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: 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):
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