AE4820 Robotic Multibody Systems

This course focuses on the analytical modeling, numerical simulations and laboratory experimentation of dynamics and control of the autonomous maneuvering of robotic multibody systems. Systems of one or more robotic manipulators that are either on a fixed base or mounted on a moving base are considered the mechanics, guidance and control of these robotic manipulators are studied and their modeling analyzed in detail. Emphasis is given for the case of an open-tree robotic manipulator mounted on a drifting base. Applications are considered for orbiting spacecraft, underwater, surface, ground and airborne vehicles. The course laboratories focuses on analytical and numerical simulations as well as hands-on experimentation on hardware-in-the loop test bed. The Robotic Operating System as well as the Gazebo development environment is extensively used together with Matlab/Simulink and the in house developed Space Robotics Toolbox (SPART).

Prerequisite

AE3818, ME3801or by consent of instructor

Lecture Hours

3

Lab Hours

2

Quarter Offered

  • Spring