EE 548: Manipulator-based Robotics

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