EE 570: Advanced Topics (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: MW 09:45AM-11:00AM in Workman 117

Textbook: Robot Modeling and Control by Mark W. Spong, Seth Hutchinson and M. Vidyasagar; John Wiley and Sons; 2005; ISBN: 9780471649908

References (not required):

• Introduction to Robotics: Mechanics and Control, 3/E by John J. Craig; Prentice Hall; 2005; ISBN: 9780201543612

Prerequisites: Consent of instructor, and senior or graduate student status.

Description: EE 570 (Robotics) is intended for advanced engineering students interested in the fundamentals of robotics, including kinematics, dynamics, motion planning and control. The focus will be on arms (manipulators) used in industrial applications.

Topics: Chapters 1-7 of the textbook followed by chapters and topics of interest to the class.

Grading:

• Homework: 25%
• Presentations and Projects: 40%
• Participation: 10%
• Laboratories: 25%

Assignments:

1. HW1 due We 02/04: Handout
2. HW2 due We 02/11: 2-6, 12, 13, 14, 15
3. HW3 due We 02/18: 2-16, 23, 25, 38, 39, 40
4. HW4 due Mo 03/02: 3-3, 4, 5, 8, 9, 10
5. HW5 due We 03/18: 3-18, 19, 20
6. HW6 due We 03/25: 4-13, 17, 18, 22
7. Lab 1 due Mo 04/06: Handout
8. Lab 2 due Mo 04/13: Handout
9. Lab 3 due Mo 05/04: Handout
10. Lab 4 due ?? ??/??: Handout
11. Final project due We 05/06: Handout

Reading Assignments:

• Chapters 1 and 2 (01/20/2009)
• Chapter 3 (02/09/2009)
• Chapter 4 (03/02/2009)
• Chapter 5 (03/18/2009)
• Chapter 6 (03/30/2009)
• Chapter 7 (04/01/2009)
• Chapter 8 (04/20/2009)

Links and Resources:

1. Antenen Research Co. - Supplier of new and used robots. Have a look at their inventory to see a wide variety of robots.
2. Authors' website
3. Matlab example showing cubic and quintic polynomial, and linear segment with polynomial blend trajectories.