ME 6407: Robotics
Offered Every Spring

Credit Hours:

3-0-3

Prerequisites:

ME 3015 or ECE 3085.

Catalog Description:

Analysis and design of robotic systems including arms and vehicles. Kinematics and dynamics. Algorithms for describing, planning, commanding and controlling motion force.

Textbooks:

Lorenzo Sciavicco and Bruno Siciliano; Modeling and Control of Robot Manipulators, 2nd Edition, Springer-Verlag, 2000.

Instructors:

Wayne Book, Ye-Hwa Chen (Fall 2004), Kok-Meng Lee, Harvey Lipkin (Spring 2004), Nader Sadegh (Fall 2003)

Optional:

The Student Edition of MATLAB, Prentice Hall. (available with or without computer disks.)
The Student Edition of Simulink, Prentice Hall.

 

Reference:

Craig, Introduction to Robotics, Mechanics and Control, 2nd ed., Addison Wesley.

Material:

 

The course is oriented to the designers of robotic systems. It will strive to give an understanding of the mathematical tools and algorithms incorporated in the motion and force planning and control and to impart some skill in using these methods. It will not dwell on the technologies of actuators, sensors, computers and effectors or controllers.

 
Prerequisites by Topic:
  • Undergraduate Newtonian physics, matrix algebra, geometry, reasonable programming competence in a higher level language.
  • More advanced courses in dynamics, automatic controls or kinematics will give the student a fuller understanding and some advantages in working some problems.

    • Grading:

  • 30% Mid Term Exam.
  • 30% Final.
  • 15% Homework.
  • 25% Project.

    • Other:

  • You will need access to a computer with graphics display and printer and an application package capable of standard matrix manipulations. Matlab is recommended and available on the ME computer clusters. Mathematica is also useful and a reasonable substitute if you are skilled. It will not be supported with discussion in class, however.

    • Homework:

  • The homework will involve analytical and computer solutions of problems. Be prepared to spend considerable time on these assignments. They will also prepare you for the project and exams. The homework turned in should represent the individual's effort. Discussion among the students in the class is encouraged, however.

    • Project:

  • The project will address an application to be discussed early in the quarter. It will focus on developing a robotic system to meet the application's specifications. Software and skills developed and used in the homework assignments should be useful in completing the project.

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    Topics:

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    Revised June 2004