MCE 464 - Introduction to Robotics (3-0-3) Course Description Description (catalog): Gives an overview of robotics, robot coordinate systems, and direct direct and invers inversee kinema kinematic tics. s. Introd Introduces uces manipu manipulat lator or dynami dynamics cs and force force control control and compliance. Includes robot sensors and control strategies, and requirement of digital control of robots. Prereuisite(s): MCE 3! "ynamic #ystems !e"tboo#(s) and$or %t&er Reuired Materials:
#pong, M. $., %utc&inson, #., 'idyasagar, 'idyasagar, M., (obot Modeling and Control' ))*' +o&n $iley $iley #ons. dditional: Craig, +. +., Introduction to (obotics- Mec&anics and Control, 3rd edition, )), /rentice Course oals: 0&is course is designed to &elp t&e student1ormulate t&e direct and inverse kinematics solutions. 1ormulate t&e dynamics equations and control law of robotic systems. "esign motion planning algorit&ms of robotic systems. Model and control simple electromec&anical devices, suggest sensors, actuators and algorit&ms for automated tasks •
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Course %utco*es: 0&is course requires t&e student to demonstrate t&e ability to2. "erive "erive direct direct kinema kinematics tics and obtain obtain degrees degrees of freedom. freedom. . 1ormul 1ormulate ate t&e inver inverse se kinema kinematic ticss problem. problem. 3. "erive "erive equations equations of motion motion for a robotic robotic systems systems using using agrange agrange principl principle. e. 4. #elect #elect actua actuator torss and senso sensors rs for for t&e robot robot.. . "esign "esign a motio motion n pat& and and obtain obtain pat& pat& paramet parameters ers.. *. "esign "esign simple simple cont control rol algori algorit&m t&ms. s. !opics Co+ered and ,c&edule in ee#s:
0o ac&ieve t&e above goals, t&is course will cover t&e main topics ofIntroduction to robotic systems5 Components, classification, system requirements (obotic manipulation notations. (igid Motions and %omogeneous 0ransformations "irect kinematics Inverse kinematics 'elocity kinematics /at& and 0ra6ectory /lanning Independent +oint Control Manipulator "ynamics
(otation and 0ransformations "enavit8%artenberg 9"%: 0ables Manipulator ;inematics and 0ransformations Inverse ;inematics +acobians- 'elocities +acobians- 1orces Mobile (obot- ;inematics and Constraints Manipulator "ynamics Mobile (obot and #pace (obot "ynamics (obotics Control
Group /ro6ect
Polic/:
%omework assignments must be submitted in class in t&e due date. >o late &omeworks will be accepted. If you are late to class more t&an minutes, t&en you are not allowed to enter and attend t&e class.
Esti*ated Content: General education- ) credits Mat& and basic science- 2 credits Engineering topics- credits 9significant engineering design content:
Relations&ip o. Course to Progra* %utco*es 0&is course contributes in a significant way to t&e accomplis&ment of t&e following program outcomes-
Progra* outco*e
9a: an ability to apply knowledge of mat&ematics, science, and engineering 9b: an ability to design and conduct eperiments, as well as to analyBe and interpret data 9c: an ability to design a system, component, or process to meet desired needs wit&in realistic constraints suc& as economic, environmental, social, political, et&ical, &ealt& and safety, manufacturability, and sustainability 9d: an ability to function on multidisciplinary teams 9e: an ability to identify, formulate, and solve engineering problems 9f: an understanding of professional and et&ical responsibility 9g: an ability to communicate effectively 9&: t&e broad education necessary to understand t&e impact of engineering solutions in a global, economic, environmental, and societal contet 9i: a recognition of t&e need for, and an ability to engage in life8long learning 96: a knowledge of contemporary issues 9k: an ability to use t&e tec&niques, skills, and modern engineering tools necessary for engineering practice.
E*p&asis in t&is course %
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Emp&asis- % %ig&5 M Moderate5 ow5 lank >ot&ing specific epected "M 8"irect Measures
Polic/:
%omework assignments must be submitted in class in t&e due date. >o late &omeworks will be accepted. If you are late to class more t&an minutes, t&en you are not allowed to enter and attend t&e class.
cade*ic 1onest/: /lease do not embarrass yourself. Hou can discuss &omework problems wit& eac& ot&er but eac& s&ould turn &is own work. C&eating will >0 be tolerated neit&er in &omework nor in eams. Course !&e*e Epect to 2or# &ard so you better eno/ doing t&at.
Current Instructor' Depart*ent' %..ice 1ours and Date: "r. Mamoun 1. ?bdel8%afeB, Mec&anical Engineering,