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 11:00AM-12:15PM in Workman 117

Office Hours: M-Th 09:00AM-10:30AM

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 (robotic arms).

Textbook:

• Robot Modeling and Control by Mark W. Spong, Seth Hutchinson and M. Vidyasagar; John Wiley and Sons; 2005; ISBN: 978-0-471-64990-8
• Author's website and errata

References:

1. Robotics, Vision and Control: Fundamental Algorithms in MATLAB (free access to pdf via NMT computer) by Peter Corke; Springer-Verlag; 2011; ISBN: 978-3-642-20143-1
2. Introduction to Robotics: Mechanics and Control, 3/E by John J. Craig; Prentice Hall; 2005; ISBN: 9780201543612
3. Robotics: Modelling, Planning and Control (free access to pdf via NMT computer) by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo; Springer-Verlag; 2009; ISBN: 978-1-84628-641-4
4. Springer Handbook of Robotics (free access to pdf via NMT computer) by Editors Bruno Siciliano and Oussama Khatib; Springer-Verlag; 2008; ISBN: 978-3-540-23957-4
5. Theory of Applied Robotics: Kinematics, Dynamics, and Control, 2/E (free access to pdf via NMT computer) by Reza N. Jazar; Springer-Verlag; 2010; ISBN: 978-1-4419-1749-2

Grading:

• Homeworks: 33%
• Projects: 34%
• Two Exams: 33%

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.
• International Federation of Robotics - Organization that promotes robotics worldwide. Have a look at their many links and reports to include a history of robotics, statistics and case studies.
• Robotics Toolbox is a free, Matlab-based toolbox for the study of arm-type robots.

Schedule (updated throughout semester):

Week (Days)	Lecture Topics	Reading	Assignments
01 (T 08/18, Th 08/20)	Introduction	Ch. 1	Hw 1
02 (T 08/25, Th 08/27)	Position, Orientation, Pose, Rotations	Sect. 2.1-2.5	Hw 2, Pr 1
03 (T 09/01, Th 09/03)	Rotations, Rigid Motion, Homogeneous Transformations	Sect. 2.6-2.8	Hw 3
04 (T 09/08, Th 09/10)	Homogeneous Transformations, Forward Kinematics	Sect. 3.1, 3.2	Hw 4
05 (T 09/15, Th 09/17)	Forward Kinematics	Sect. 3.3, 3.4
06 (T 09/22, Th 09/24)	Inverse Kinematics
07 (T 09/29, Th 10/01)	Inverse Kinematics	Sect. 4.1-4.6	Hw 5, Pr 2
08 (T 10/06, Th 10/08)	Velocity Kinematics and Jacobian	Sect. 4.7-4.13	Hw 6
09 (T 10/13, Th 10/15)	Singularities and Inverse Differential Kinematics
10 (T 10/20, Th 10/22)	Trajectory Planning	Sect. 5.5	Exam
11 (T 10/27, Th 10/29)	Trajectory Planning for Joints and End-effector	Sect. 6.1-6.3, 6.7	Pr 3
12 (T 11/03, Th 11/05)	Joint Control, Dynamics via Lagrange Formulation	Sect. 7.1-7.5
13 (T 11/10, Th 11/12)	Dynamics via Lagrange Formulation		Hw 7
14 (T 11/17, Th 11/19)	Dynamics via Lagrange Formulation
15 (T 11/24)	Simulation and Nonlinear Control		Pr 4
16 (T 12/01, Th 12/03)	Review		Exam
17	Finals Week