ECE 486Robot Dynamics and Control
- Units
- 0.50
- Faculty
- Engineering
When it runs
- F24
- W25
- S25
- F25
- W26
- S26
- F26
- W27
- S27
Ran in 3 of the last 7 terms. Winter 2027: not on the schedule. Spring 2027: schedule not out yet.
Introduction to the study of robotics focusing on the mechanics and control of serial manipulators. Topics include rigid body motion, forward and inverse kinematics, differential kinematics, forward and inverse dynamics, trajectory generation, motion planning, and feedback control.
Prerequisites
- Complete 1 of the following
- Complete all of the following
- Must have completed the following:
- ECE380 - Analog Control Systems (0.50)
- Students must be in level 4A or higher
- Enrolled in H-Computer Engineering, or H-Electrical Engineering
- Must have completed the following:
- Complete all of the following
- Must have completed the following:
- ME360 - Introduction to Control Systems (0.50)
- Students must be in level 4A or higher
- Enrolled in H-Mechanical Engineering, or Mechatronics Option
- Must have completed the following:
- Complete all of the following
- Must have completed the following:
- MTE360 - Automatic Control Systems (0.50)
- Students must be in level 4A or higher
- Enrolled in H-Mechatronics Engineering
- Must have completed the following:
- Complete all of the following
- Must have completed the following:
- SE380 - Introduction to Feedback Control (0.50)
- Students must be in level 4A or higher
- Enrolled in H-Software Engineering
- Must have completed the following:
- Complete all of the following
- Must have completed the following:
- SYDE352 - Introduction to Control Systems (0.50)
- Students must be in level 4A or higher
- Enrolled in H-Systems Design Engineering
- Must have completed the following:
- Complete all of the following
Antirequisites
- Not completed nor concurrently enrolled in any of the following:
- ME547 - Robot Manipulators: Kinematics, Dynamics, Control (0.50)
Leads to
No course lists it as a requisite.
Resources
Around the web
Found by uwloo’s link finder, which checks that each page names ECE 486.
- Robot Dynamics and Control Course outline · ece.uwaterloo.ca · from Stephen L. Smith’s site Remove
- Remove
Other, 3 pages gnotomista.com · from Gennaro Notomista’s site
Reviewed on UW Flow
88% liked it38% easy90% useful
From 16 ratings and 7 comments on UW Flow. The most helpful comments, quoted as written, without names. Read them all on UW Flow.
This course was very easy. No midterms or finals, only labs, and quizzes. for the quizzes you get to mark yourself, so that was nice. Instead of a final exam, you get to do a project, which saves you all that time preparing for an exam.
Aug 2016 · 2 found this helpfulOn UW FlowRemove this
One of the best courses I've taken. You get to program robot arms, and robot manipulators to do some super cool things.
Aug 2025 · liked it · 1 found this helpfulOn UW FlowRemove this
This class is about the mathematical modelling of robots and the theory around this. As a CS/math student, this was a lot of fun. The labs were kinda their own thing, and were much more "make the robot arm do this task". More than anything else, the labs taught me how painfully annoying calibration is, which might've been the point. The final assignment was to build a controller for a real robot to make it shoot a hockey puck (which was cool!) but technical issues with the RoboHub setup made it a pain. Most groups couldn't succeed at this because of these external factors, and simulator success was accepted instead.
Grade breakdown (undergrad version): 2x10% homeworks; 30% labs; 20%…Sep 2026 · liked itOn UW FlowRemove this
Playing with robots was fun. I can now see 4 by 4 matrices whereas I could only see 3 by 3 matrices before this course.
Labs were tricky. Make sure you get a competent lab partner or else your term is gonna be rough. Would take again. Quizzes were easy but I was dumb.Aug 2022 · liked itOn UW FlowRemove this
The course covers a lot of content that builds on itself, so make sure you're up to date on your readings. Otherwise, the material seems interesting and useful if you're into this field.
Dec 2021 · liked itOn UW FlowRemove this
Discussed on r/uwaterloo
15 posts and comments in 13 threads mention ECE 486, January 2013 to December 2024. Quoted word for word, newest first; each reply sits under the post and the comment that started its branch. Search r/uwaterloo for newer posts.
Winter 2023
Opinions on these 4A CE Courses: 3 points, 0 comments
u/namomontbleau: “… and Architecture ECE454 Distributed Computing ECE457A Co-operative and Adaptive Algorithms ECE486 Robot Dynamics and Control I’m most interested in workload, difficulty etc. I wanna take things I am interested in but don’t want to drown in the process. …”
Spring 2022
A GUIDE ON HOW TO PLAN AN OPTION 29 points, 15 comments
u/1000Ditto: “… MTE 320\[W,S\]| |D|ME 212\[F,S\], ME 321\[W,S\]| |E|One of ECE (481\[S\], 488\[W\])| |F|ECE 486\[S\]| |G|ME 321\[W,S\] + ME 220\[F,S\] = ME 322\[F,W\]| |H|One of ECE (356\[F\], 454\[S\], 455\[S\], 457A\[S\], 457B\[W\], 459\[W\], 463\[S\])| |CSE|2 CSE C and 1 (CSE A/C/D)| …”
Fall 2020
Need some advice from ECE fellows 2 points, 12 comments
“Hi there, I am a forth year student in math faculty who got a lot of interest in control/signal processing stuff. …”
u/realbrokenlantern: “… There are more math-involved courses in ECE that are also related to robotics like ECE 413, 481, 484, 486 and 488 (check out https://ucalendar.uwaterloo.ca/2021/COURSE/course-ECE.html) so I recommend you take one of those if you want to work specifically on controls or signal …”
Spring 2018
ECE 486 robot dynamics and control 4 points, 2 comments
u/fedupuwstudent: “How easy is this course and is it at all relevant career wise for a computer engineering student? Would you recommend it over smth like 457a or comp security? Thank you very much!”
Fall 2017
Should I switch to ECE? 0 points, 7 comments
“I am a Mechanical Engineer and I like robotics, embedded systems and other types of fields were hardware meets software. …”
u/fuck012345678: “… Keep in mind that core ECE takes little to no mechanical engineering courses, but there are some robotics/control systems/software type courses in fourth year like ECE 486 and now autonomous vehicles. If you want to do embedded software definitely switch into ECE. …”
Winter 2017
Easiest ECE Technical Electives 10 points, 19 comments
“Hello. I have seen many upper year ECE guys post here. Can someone recommend me the easiest technical electives they have taken. I need to not fail out 4th year :(”
u/bursilym: “ECE 473, ECE 462, ECE 486 from electrical side.”
Fall 2016
What are the easiest ATEs for Software Engineering Students? 3 points, 3 comments
u/uobhsarp: “… 458 Computer Security ECE 459 Programming for Performance ECE 481 Digital Control Systems ECE 486 Robot Dynamics and Control ECE 488 Multivariable Control Systems Any suggestions are highly appreciated! Except suggestions for CS 452, CS 444 and CS 488. …”
Spring 2015
Any mech eng doing/done the tron option? 1 point, 6 comments
“I just wanna know if there are any mech eng that are doing/done the tron option. I wanna know what courses you took to complete the option (ECE or MTE courses?) and if doing the option itself was …”
u/annihilatron: “… Courses I did not take and have heard nothing about: ME561, ME547, ECE463, ECE450, ECE457, ECE486, ME524, The rest of the SYDE courses (non-422) ======== Jobwise, it doesn't affect much. …”
Winter 2015
ECE looking for mech opportunities 3 points, 6 comments
“I'm a first year ECE, and I like everything about ECE, but I find that I'm becoming more interested in robotic/mechanical systems and mechanical engineering. …”
u/EternityCode: “There's ECE 486 Robot Dynamics and Control and some computational intelligence courses (not really relevant to you) in fourth year. You can take electives beginning in 2B, and consider pursuing the Mechatronics Option. …”
Non-Waterloo student here: Is there anywhere that I can check the courses that are being offered in Spring 2015? 5 points, 12 comments
[deleted]: “… ECE 486 - Robot Dynamics and Control 2. ME 262 - Introduction to Microprocessors and Digital Logic I want to see what the day/time are for the lectures/tutorials/labs, and if there are any space left in the 2 courses. …”
u/uwlol: “I doubt you'll be able to take them for credit, not being a Waterloo engineering student.”
u/twinnedcalcite: “ME 262 has spring and fall offering. ECE 486 is only offered in spring. UW Undergrad calender for Mechanical Engineering and ECE”
u/valryuu: “… So if ECE 486 doesn't appear in term 1155, it is likely not offered in the Spring. You can use this for any course. …”
What's the process for taking a course at Waterloo, if I'm a student at another university? 1 point, 1 comment
[deleted]: “Hey guys, I'm an engineering student from UOIT, and I'm interested in taking "ECE 486: Robot dynamics and control" course that is being offered this summer. I've never taken a course outside of my university, so I'm not familiar with the process. …”
Fall 2014
You know what fucking grinds my gears as a TA? Seeing this idiotic shit over and over again. 50 points, 74 comments
u/SidusKnight: “Must be an engineering math class.”
u/rcfox: “Robots. ECE 486. I think they dumbed it down since I took it (and maybe changed the course number), but we had differential equations with matrices in MIMO control systems around inverse kinematics models.”
Check it elsewhere for Fall 2026
- Undergraduate Calendar, 2026–27The official entry
- Requirements for Fall 2026Waterloo’s requisite checker
- Schedule of Classes, Fall 2026Instructors, rooms, live seats
- Quest Class SearchWhere you enrol
- Course outlinesSyllabi from past terms (UW login)
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