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

**Class Time/Place:** W 02:00PM-05:00PM 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, but often used in similar courses):**

**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.

**Grading:**

- Homeworks and Laboratories: 45%
- Two Exams: 25%
- Final Project and Presentation: 20%
- Participation: 10%

**Reading:**

- Chapters 1 and 2 (01/20/2010)
- Chapter 3 (01/28/2010)
- Chapter 4 (02/24/2010)
- Section 5.5 (03/17/2010)
- Chapter 6 (03/24/2010)
- Chapter 7 (03/31/2010)

**Assignments:**

- Homework 1 due W 01/27/2010: Problems 1-1, 1-2, 1-3, 1-21. Scan of problems from book.
- Homework 2 due W 02/03/2010: Problems 2-3, 2-6, 2-8, 2-12, 2-14, 2-15, verify development of Euler Angles and equations in section 2.5.1
- Homework 3 due W 02/08/2010: Problems 2-36 (check left and right), 2-37, 2-38, 2-39
- Programming Laboratory 1 (3D Frame Viewer) due W 02/08/2010
- Homework 4 due W 02/17/2010: Assign DH frames and find the DH table for the robots in the handout (Stanford, PUMA 260, Adept Cobra s800, planar RRR, planar RP) and problem 3-8
- Programming Laboratory 2 (3D Robot Builder and Viewer) due W 02/24/2010
- Homework 5 due W 02/24/2010
- Programming Laboratory 3 (3D Viewer and Inverse Kinematics) due W 03/03/2010
- In class exam 1 on W 03/03/2010. Exam covers chapters 1-3 and an 8.5"x11" sheet of paper with writing on one side will be allowed.
- Homework 6 due W 03/24/2010: Problems 4-17, 4-20, 4-21
- Programming Laboratory 4 (Velocity Kinematics) due W 03/31/2010
- Homework 7 due W 04/07/2010: Reproduce results in examples 6.3 and 6.4 of the text.
- Programming Laboratory 5 due W 04/07/2010: Problem 5-23, and confirm operation on example from class and a nontrivial one of your choice.
- Homework 8 due W 04/21/2010: 1) Verify inertia tensor for solid rectangular link, 2) problem 7-7 a, b, d (robot shown in figure 3.28) via Newton-Euler and Euler-Lagrange, and 3) find equations of motion for RRR of figure 3.27 via Newton-Euler and Euler-Lagrange (assume no offsets and links are all of length 1, radius 1/8 and mass 1).
- Programming Laboratory 6 due W 04/28/2010: Numerical solution to dynamics for simulation and visualization.
- In class exam 2 on W 04/28/2010.
- Final Project due at end of semester.
- Robot Laboratory 1 due TBD

**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.
- Authors' website