Description: Lecture, four hours; outside study, eight hours. Recommended preparation: courses 155, 171A, 263C. Motion planning and control of articulated dynamic systems: nonlinear joint control, experiments in joint control and multiaxis coordination, multibody dynamics, trajectory planning, motion optimization, dynamic performance and manipulator design, kinematic redundancies, motion planning of manipulators in space, obstacle avoidance. Letter grading.

Units: 4.0