ME 384R-3 - Dynamics of Robots and Mechanisms

Dynamic Control of a 2 DOF Planar Robot - Create a computer program that performs motion planning, inverse dynamics, and forward dynamics for a 2 DOF RR Planar Robot.  Implement feedback, feedforward, and combination control schemes.   

Control of a 6 DOF Puma Robot - Create a computer program that performs motion planning, inverse dynamics, and forward dynamics for a 6 DOF Puma Robot.  Implement a combination of feedforward and feedback control.