Homogeneous transformations. Kinematics and inverse kinematics. Denavit-Hartenberg convention. Jacobians and velocity transformations. Dynamics. Path planning, nonlinear control. Compliance and force control. [Offered: S] Prereq:(ECE 380;Level at least 4A Comp or Elect Eng)or(SE 380;Level at least 4A Software Eng)or(MTE 360;Level at least 4A Mechatronics Eng)or(ME 360;Level at least 4A Mech Eng/Mechtr Opt)or(SYDE 352;Level at least 4A Sys Design Eng). Antireq:ME 547(Cross-listed with ECE 687)
