Winter term, even years
Lecture and Lab
Graduate Standing, and prior courses on dynamics and control (at the discretion of the instructor) such as ME 535, ME 531, ME 533
313 Graf Hall
Robots and automated systems move using many different methods of actuation, including electric motors, hydraulic systems, and pneumatic systems. While the motions of the robot are largely controlled through software, the physical system can impose significant constraints. These constraints are not only speed or force limits; all physical systems have passive dynamics, such as inertia or compliance. Passive dynamics can either limit the performance, or enhance it. This course covers various actuation methods, and how to utilize passive dynamics for a specific task. Examples include robotic manipulation tasks, robot-human interaction, CNC Machines, or legged locomotion.