Automation, mechatronics, robot technology, kinematics, dynamics, trajectory planning, and control of two-dimensional and spatial robots; robot programming; design and simulation of robotic devices. Laboratories associated with robot forward/inverse kinematics, task planning, velocity kinematics, force rendering, control, haptics, mobile robotics, mapping/localization, computer vision and path planning.
This course is essential to properly prepare graduate students to successfully undertake research in robotics, providing foundation in the theory and practice of robotics appropriate for students at the graduate level by incorporating lectures on robot theory, readings on current robotics research, and hands-on laboratories on mobile robots and robotic manipulators. The course will cover more advanced topics and more rigorous treatment of various topics, such as orientation kinematics and the Newton-Euler method of robot dynamics.
Percentage of Course
|Introduction: Mechatronics & Robotics, Basic Definitions||5%|
|Rigid-Body Kinematics -Positions and Orientation _Coordinate Transformation||10%|
|Forward Kinematics: -D-H Convention -Assigning Link Coordinate Frames||15%|
|Inverse Kinematics: -Solvability -Geometric Solution -Algebraic Solution -Repeatability and Accuracy||10%|
|Differential Kinematics: -Differential of Transformation Matrices -Jacobian -Singularity -Redundancy||15%|
|Statics -Transformation of forces and Moments -Manipulator Statics -Concept of Duality -Manipulator Stiffness||10%|
|Dynamics: -Rigid-Body Motion -Lagrangian Approach -Newton-Euler Formulation||10%|
|Controls: -Motion Control and Trajectory Generation -Joint Actuator Dynamics and Independent Joint Servo Control -Model-Based Control -Force Control||15%|
|Sensors: -Positions Sensing -Force Sensing -Tactile Sensing||10%|