Engineering Faculty Document No. 57-06
May 3, 2007
TO: The Faculty of the College of Engineering
FROM: The Faculty of the School of Electrical and Computer
Engineering
RE: Deletion of ECE 682
The faculty of the School
of Electrical and
Computer Engineering has approved the deletion of the following course. This
action is now submitted to the Engineering Faculty with a recommendation for
approval.
ECE 682 Control of Robot Manipulators
Sem. 2. Class 3, cr. 3. (Offered in alternate years.)
Prerequisite: ECE 569, ECE 602. Authorized
equivalent courses or consent of instructor may be used in satisfying course
pre- and co-requisites.
The dynamical models to design
controllers for the manipulator motion are discussed in Lagrange's and
Newton-Euler's formulations. To make the manipulator motion track a desired
trajectory, the system will be designed using PID-controllers, eigenvalue assignment, and adaptive self-tuning control.
The design of these controllers for compliant motion of the manipulators also
is discussed in detail. The implementation of the foregoing controllers is
outlined.
Reason: Course
has not been taught for an extended period of time. Course content has been deleted from the
curriculum.
Mark J.T. Smith
Professor and Head
