MECENGC106A
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MECENG C106A - Introduction to Robotics
Course Title
Introduction to Robotics
Course Description
This course is an introduction to the field of robotics. It covers the fundamentals of kinematics, dynamics, control of robot manipulators, robotic vision, sensing, forward & inverse kinematics of serial chain manipulators, the manipulator Jacobian, force relations, dynamics, & control. We will present techniques for geometric motion planning & obstacle avoidance. Open problems in trajectory generation with dynamic constraints will also be discussed. The course also presents the use of the same analytical techniques as manipulation for the analysis of images & computer vision. Low level vision, structure from motion, & an introduction to vision & learning will be covered. The course concludes with current applications of robotics.
Minimum Units
4
Maximum Units
4
Grading Basis
Default Letter Grade; P/NP Option
Method of Assessment
Alternative Final Assessment
Instructors
Sastry
Prerequisites
Familiarity with linear algebra at the level of EECS 16A/EECS 16B or Math 54. Experience coding in python at the level of COMPSCI 61A.
Preferred: experience developing software at the level of COMPSCI 61B and experience using Linux.
Preferred: experience developing software at the level of COMPSCI 61B and experience using Linux.
Repeat Rules
Course is not repeatable for credit.
Credit Restriction Courses. Students will receive no credit for this course if following the course(s) have already been completed.
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Cross-Listed Course(s)
Formats
Lecture, Discussion, Laboratory
Term
Fall and Spring
Weeks
15 weeks
Weeks
15
Lecture Hours
3
Lecture Hours Min
3
Lecture Hours Max
3
Lecture Mode of Instruction
In Person
Discussion Hours
1
Discussion Hours Min
1
Discussion Hours Max
1
Discussion Mode of Instruction
In Person
Laboratory Hours
3
Laboratory Hours Min
3
Laboratory Hours Max
3
Laboratory Mode of Instruction
In Person
Outside Work Hours
5
Outside Work Hours Min
5
Outside Work Hours Max
5
Term
Summer
Weeks
8 weeks
Weeks
8
Lecture Hours
6
Lecture Hours Min
6
Lecture Hours Max
6
Lecture Mode of Instruction
In Person
Discussion Hours
2
Discussion Hours Min
2
Discussion Hours Max
2
Discussion Mode of Instruction
In Person
Laboratory Hours
6
Laboratory Hours Min
6
Laboratory Hours Max
6
Laboratory Mode of Instruction
In Person
Outside Work Hours
10
Outside Work Hours Min
10
Outside Work Hours Max
10