The BRADLEY DEPARTMENT of ELECTRICAL and COMPUTER ENGINEERING

ECE 5704 Robotics and Automation | ECE | Virginia Tech

Graduate PROGRAMS

Course Information

Description

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.

Why take this course?

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.

Learning Objectives

  • Classify types, features, and current applications of robotic systems
  • Apply mechatronics design perspective on robotic systems
  • Utilize spatial descriptions and homogeneous transformations to analyze forward and inverse kinematics
  • Analyze velocity kinematics and force rendering
  • Model the dynamics and controls of stationary and mobile robots
  • Apply appropriate actuators, transmissions, sensors, and end effectors to robot design
  • Develop forward and inverse kinematics algorithms for serial and mobile robots
  • Compile trajectory planning and velocity kinematics algorithms for a serial robot
  • Develop force rendering algorithms for a serial robot
  • Verify the effect various control parameters have on the performance of a serial robot
  • Develop haptic controllers to represent virtual objects through a serial robot
  • Compile and test various algorithms for a mobile robot, including mapping/localization, image processing and potential fields.

Course Topics

Topic

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%