Offered Every Spring
| Credit Hours: | 3-0-3 | |||||||||
| Prerequisites: | ME 3017 (System Dynamics) or Equivalent | |||||||||
| 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: | Craig J.J., Introduction to Robotics, Mechanics and Control, Addison Wesley | |||||||||
| Instructors: | Ye-Hwa Chen, Kok-Meng Lee, Nader Sadegh, Jun Ueda | |||||||||
| Optional: | The Student Edition of MATLAB, Prentice Hall. (available with or without computer disks.) The Student Edition of Simulink, Prentice Hall. | |||||||||
| References: | Angeles, J., Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms; Murray, R., Li, Z., Sastry, S., A Mathematical Introduction to Robotic Manipulation | |||||||||
| Goals: | 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. | |||||||||
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| 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. | |||||||||
| 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. | |||||||||