Analysis and Design of Robotic Manipulators
ME 57201/ 3 Cr.
Introduction to the analysis and design of robotic manipulators. Topics include kinematic configurations, forward and inverse position soluton, velocity and acceleration, path planning, off-line progamming, force and torque solutions, rigid body dynamics, motors and actuators, robot design, sensors, and controls, computer simulation and graphical animation.
- Available Online: No
- Credit by Exam: No
- Laptop Required: No
ME 48200 or equivalent, and any high-level programming languages
S. Niku, "Introduction to robotics: analysis, systems, applications", Prentice Hall, 2001.
After completion of this course, the students should be able to:
- A knowledge of the current state of robotics and its applications and impact in our societies.
- An understanding of spatial coordinate transformation and an ability to define the coordinates and the corresponding kinematic parameters for robotic manipulators.
- An ability to solve forward and inverse kinematic equations. [a,e]
- An ability to analyze robotic motion using the concepts of Jacobian matrix. [a,e]
- An understanding of robot dymanic modeling and an ability to derive dynamic model using Lagrange's equations of motion.
- An ability to design robot motion trajectories to meet the design specifications and requirements. [a,c,e,k]
- An ability to analyze and design robot control systems using classical control design methods.
- A knowledge of advanced robot control techniques such as adaptive control, optimal trajectory planning and control, computed torque, etc.
- An ability to evaluate and test system performance using computer-aided tools. [a,c,e,k]
- An ability to program industrial robots to perform pre-specified tasks.
Note: The letters within the brackets indicate the general program outcomes of mechanical engineering. See: ME Program Outcomes.
- Introduction: robotics and automation, mechatronics, and applications
- Fundamentals of robot technology
- Kinematics: spatial description, homogeneous transformations
- Kinematics: D-H representation and tranformation matrices
- Inverse Kinematics: solvability and solutions
- Differential motions and robot Jacobian
- Robot programming languages
- Path/Trajectory planning
- Robot dynamaics: Euler-Langrange formulation
- Robot actuators
- Sensors and instrumentation
- Robot control: concept, classical control design techniques
- Robot control: computed torque technique
- Machine vision: introduction