Description:
In this course, we first model mechanical systems in a differential geometric
framework. Then using the Euler-Lagrange equations, we obtain the coordinate-invariant form of equations of motion of mechanical
systems. Finally, we use this form of equations of motion to study stability,
controllability, and motion planning of mechanical systems.
Instructor:
Saber Jafarpour (109 Jeffery Hall, saber.jafarpour@queensu.ca
).
Prerequisite:
Linear algebra, Differential equations, and
introductory real analysis.
Reference:
Geometric Control of
Mechanical Systems by Francesco Bullo and Andrew D. Lewis.
Lectures:(Jeffery 115)
Tutorial:(Jeffery 110)
Office hours: