3.0

credits

Average Course Rating

A continuation of EN.530.653, this course covers the following topics at an advanced level: Newton’s laws of kinematics of systems of particles and rigid bodies; Lagrange’s equations for single- and multi-degree-of-freedom systems composed of point masses; normal mode analysis and forced linear systems with damping, the matrix exponential and stability theory for linear systems; nonlinear equations of motion; structure, passivity, PD control, noise models and stochastic equations of motion; manipulator dynamics: Newton-Euler formulation, Lagrange, Kane’s formulation of dynamics, computing torques with O(n) recursive manipulator dynamics:Luh-Walker-Paul, Hollerbach, O(n) dynamics simulation: Rodriques-Jain-Kreutz, Saha, Fixman. There is also an individual course project that each student must do which relates the topics of this course to his or her research.