MEEN 612 Mechanics of Robot Manipulators
Forward and inverse kinematics and differential kinematics of robot manipulators, path planning, motion planning, dynamics of robot manipulators, control algorithms; PD/PID control, computed torque algorithm, robust and adaptive control algorithms, feedback linearization.
MEEN 651 Control System Design
Frequency domain design of SISO systems for performance and sensitivity reduction; applications of Kalman filter and LQG/LTR techniques; design of sample-data systems; active control of vibration in distributed parameter systems; describing function and relay controls; application of control principles to engineering design.
MEEN 652 Multivariable Control System Design
Advanced issues relevant to the design of multivariable control systems using hybrid (time and frequency domain) design methodologies; design using the LQG/LTR method and advanced practical applications using various robust control system design techniques.
MEEN 655 Design of Nonlinear Control Systems
Design controllers for nonlinear and uncertain systems; apply the designs to mechanical systems.