**Instructor:** Kevin Wedeward, office: Workman 221, phone: x5708,
e-mail: wedeward@ee.nmt.edu, web-page: www.ee.nmt.edu/~wedeward/

**Class Time/Place:** TTh 12:30PM-01:45PM in Workman 117

**Office Hours:** M-Th 10:00AM-11:30AM

**Description:** EE 548 is intended for advanced engineering
students interested in the fundamentals of robotics including
kinematics, dynamics, motion planning and control. The focus will be
on analysis of open-chain manipulators (arms).

**Textbook (free access via NMT computer):**
**
Robotics: Modelling, Planning and Control** by Bruno
Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo;
Springer-Verlag; 2009; ISBN: 978-1-84628-641-4

**References:**

**Introduction to Robotics: Mechanics and Control, 3/E**by John J. Craig; Prentice Hall; 2005; ISBN: 9780201543612**Robot Modeling and Control**by Mark W. Spong, Seth Hutchinson and M. Vidyasagar; John Wiley and Sons; 2005; ISBN: 9780471649908**Robotics, Vision and Control: Fundamental Algorithms in MATLAB**by Peter Corke; Springer-Verlag; 2011; ISBN: 978-3-642-20143-1**Springer Handbook of Robotics**by Editors Bruno Siciliano and Oussama Khatib; Springer-Verlag; 2008; ISBN: 978-3-540-23957-4**Theory of Applied Robotics: Kinematics, Dynamics, and Control, 2/E**by Reza N. Jazar; Springer-Verlag; 2010; ISBN: 978-1-4419-1749-2

**Grading:**

- Homeworks: 35%
- Projects: 35%
- Two Exams: 30%

**Reading:**

- Chapter 1 (08/22/2013)
- Sections 2.1-2.6 (08/22/2013)
- Sections 2.7-2.9 (09/03/2013)
- Sections 2.10-2.12 (09/17/2013)
- Sections 3.1, 3.2, 3.6 (10/01/2013)
- Sections 3.3-3.5, 3.7 (10/10/2013)
- Chapter 4 (10/24/2013)
- Chapters 5, 6 for general interest (10/31/2013)
- Sections 7.1-7.3 (10/31/2013)
- Chapter 8 (11/19/2013)

**Assignments:**

- Homework 1 due T 08/27/2013
- Homework 2 due Th 09/05/2013
- Homework 3 due T 09/19/2013
- Homework 4 due T 10/08/2013
- Project 1 due T 10/08/2013
- Homework 5 due Th 10/17/2013
- Project 2 due T 10/29/2013
- Homework 6 due Th 11/07/2013
- Project 3 due T 11/19/2013
- Homework 7 due Th 11/26/2013
- Project 4 due M 12/09/2013

**Links and Resources:**

- Antenen Research Co. - Supplier of new and used robots. Have a look at their inventory to see a wide variety of robots.
- Dr. Bruder's course page developed for a similar robotics course.
- Robotics Toolbox is a free, Matlab-based toolbox for the study of arm-type robots.

**Schedule (updated throughout semester):**

Week (Days) | Lecture Topics | Sect. | Assignments |
---|---|---|---|

1 (Th 08/22) | Introduction | Ch. 1 | Hw 1 |

2 (T 08/27, Th 08/29) | Orientation | Sect. 2.1-2.6 | Hw 2 |

3 (T 09/03, Th 09/05) | Orientation, Homogeneous Transformations | Sect. 2.7 | Hw 3 |

4 (T 09/10, Th 09/12) | Direct (Forward) Kinematics | Sect. 2.8-2.11 | |

5 (T 09/17, Th 09/19) | Direct (Forward) Kinematics | ||

6 (T 09/24, Th 09/26) | Inverse Kinematics | Sect. 2.12 | Hw 4, Pr 1 |

7 (T 10/01, Th 10/03) | Differential Kinematics (Jacobian) | Sect. 3.1, 3.2, 3.6 | |

8 (T 10/08, Th 10/10) | Differential Kinematics and Singularities | Sect. 3.3 | Hw 5, Pr 2 |

9 (T 10/15, Th 10/17) | Singularities and Inverse Differential Kinematics | Sect. 3.4, 3.5, 3.7 | |

10 (T 10/22, Th 10/24) | Inverse Differential Kinematics | Midterm Exam | |

11 (T 10/29, Th 10/31) | Trajectory Planning | Ch. 4 | Hw 6 |

12 (T 11/05, Th 11/07) | Dynamics via Lagrange Formulation | Sect. 7.1-7.3 | Pr 3 |

13 (T 11/12, Th 11/14) | Dynamics via Lagrange Formulation | ||

14 (T 11/19, Th 11/21) | Motion Control | Chapter 8 | Hw 7, Pr 4 |

15 (T 11/26) | Motion Control | ||

16 (T 12/03, Th 12/05) | Motion Control and Review | Second Exam |