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Theory and application of mathematical models to analyze, design, and program serial kinematic chains (robot arms). Covers models of arbitrary articulated robotic or biological arms and their application to realistic arms and tasks, including the homogeneous coordinate model of positioning tasks; the forward and inverse kinematic models; the Jacobian matrix; trajectory generation;and dynamic models, including Newton-Euler and Lagrangian formulations. Prerequisite(s): Enrollment restricted to graduate students; and to seniors who have taken Electrical Engineering 154, and Applied Mathematics and Statistics 10 or 10A or Mathematics 21; or by permission of instructor. J. Rosen
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