ME 445
ME 445 - Introduction to Robotics
Fall 2024
| Title | Rubric | Section | CRN | Type | Hours | Times | Days | Location | Instructor |
|---|---|---|---|---|---|---|---|---|---|
| Introduction to Robotics | AE482 | AB1 | 54489 | LAB | 0 | 0900 - 1050 | T | 3071 Electrical & Computer Eng Bldg | Jimmy Fang |
| Introduction to Robotics | AE482 | AB2 | 54490 | LAB | 0 | 0900 - 1050 | R | 3071 Electrical & Computer Eng Bldg | Jiaming Xu |
| Introduction to Robotics | AE482 | AB3 | 54491 | LAB | 0 | 1500 - 1650 | T | 3071 Electrical & Computer Eng Bldg | |
| Introduction to Robotics | AE482 | AB4 | 59292 | LAB | 0 | 1500 - 1650 | R | 3071 Electrical & Computer Eng Bldg | Jiaming Xu |
| Introduction to Robotics | AE482 | AB5 | 63487 | LAB | 0 | 1400 - 1550 | W | 3071 Electrical & Computer Eng Bldg | Haina Lou |
| Introduction to Robotics | AE482 | AB6 | 69206 | LAB | 0 | 0900 - 1050 | W | 3071 Electrical & Computer Eng Bldg | Haina Lou |
| Introduction to Robotics | AE482 | AB7 | 70611 | LAB | 0 | 0900 - 1050 | M | 3071 Electrical & Computer Eng Bldg | |
| Introduction to Robotics | AE482 | AL1 | 54488 | LEC | 4 | 1230 - 1350 | T R | 1015 Electrical & Computer Eng Bldg | Katie Driggs-Campbell Wenzhen Yuan |
| Introduction to Robotics | AE482 | ONL | 80140 | OLC | 4 | 1230 - 1350 | T R | Katie Driggs-Campbell Wenzhen Yuan | |
| Introduction to Robotics | ECE470 | AB1 | 36913 | LAB | 0 | 0900 - 1050 | T | 3071 Electrical & Computer Eng Bldg | Jimmy Fang |
| Introduction to Robotics | ECE470 | AB2 | 36943 | LAB | 0 | 0900 - 1050 | R | 3071 Electrical & Computer Eng Bldg | Jiaming Xu |
| Introduction to Robotics | ECE470 | AB3 | 41536 | LAB | 0 | 1500 - 1650 | T | 3071 Electrical & Computer Eng Bldg | |
| Introduction to Robotics | ECE470 | AB4 | 59290 | LAB | 0 | 1500 - 1650 | R | 3071 Electrical & Computer Eng Bldg | Jiaming Xu |
| Introduction to Robotics | ECE470 | AB5 | 63483 | LAB | 0 | 1400 - 1550 | W | 3071 Electrical & Computer Eng Bldg | Haina Lou |
| Introduction to Robotics | ECE470 | AB6 | 69204 | LAB | 0 | 0900 - 1050 | W | 3071 Electrical & Computer Eng Bldg | Haina Lou |
| Introduction to Robotics | ECE470 | AB7 | 70610 | LAB | 0 | 0900 - 1050 | M | 3071 Electrical & Computer Eng Bldg | |
| Introduction to Robotics | ECE470 | AL1 | 36956 | LEC | 4 | 1230 - 1350 | T R | 1015 Electrical & Computer Eng Bldg | Katie Driggs-Campbell Wenzhen Yuan |
| Introduction to Robotics | ECE470 | ONL | 80138 | OLC | 4 | 1230 - 1350 | T R | Katie Driggs-Campbell Wenzhen Yuan | |
| Introduction to Robotics | ME445 | AB1 | 36926 | LAB | 0 | 0900 - 1050 | T | 3071 Electrical & Computer Eng Bldg | Jimmy Fang |
| Introduction to Robotics | ME445 | AB2 | 36954 | LAB | 0 | 0900 - 1050 | R | 3071 Electrical & Computer Eng Bldg | Jiaming Xu |
| Introduction to Robotics | ME445 | AB3 | 41576 | LAB | 0 | 1500 - 1650 | T | 3071 Electrical & Computer Eng Bldg | |
| Introduction to Robotics | ME445 | AB4 | 59291 | LAB | 0 | 1500 - 1650 | R | 3071 Electrical & Computer Eng Bldg | Jiaming Xu |
| Introduction to Robotics | ME445 | AB5 | 63485 | LAB | 0 | 1400 - 1550 | W | 3071 Electrical & Computer Eng Bldg | Haina Lou |
| Introduction to Robotics | ME445 | AB6 | 69205 | LAB | 0 | 0900 - 1050 | W | 3071 Electrical & Computer Eng Bldg | Haina Lou |
| Introduction to Robotics | ME445 | AB7 | 70612 | LAB | 0 | 0900 - 1050 | M | 3071 Electrical & Computer Eng Bldg | |
| Introduction to Robotics | ME445 | AL1 | 36961 | LEC | 4 | 1230 - 1350 | T R | 1015 Electrical & Computer Eng Bldg | Katie Driggs-Campbell Wenzhen Yuan |
| Introduction to Robotics | ME445 | ONL | 80139 | OLC | 4 | 1230 - 1350 | T R | Katie Driggs-Campbell Wenzhen Yuan |
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Official Description
Detailed Course Description
Fundamentals of robotics, rigid motion, homogeneous transformations, forward and inverse kinematics, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. Prerequisites: One of MATH 225, MATH 286, MATH 415, or MATH 418. 4 undergraduate hours or 4 graduate hours. Crosslisted with ECE 470 and AE 482.
TOPICS:
• Introduction: Historical development of robots; basic terminology and structure; robots in automated manufacturing
• Rigid Motions and Homogeneous Transformation: Rotations and their composition; Euler angles; roll-pitch-yaw; homogeneous transformations; Matlab and Mathematica code for symbolic and numerical computation
• Forward Kinematics: Common robot configurations; Denavit-Hartenberg convention; A-matrices; T-matrices; examples
• Inverse kinematics: Planar mechanisms; geometric approaches; spherical wrist
• Velocity kinematics: Angular velocity and acceleration; The Jacobian; singular configurations; singular values; pseudoinverse; manipulability
• Motion planning: Configuration space; artificial potential fields; randomized methods; collision detection
• Trajectory generation: Joint space interpolation; polynomial splines; trapezoidal velocity profiles; minimum time trajectories
• Feedback control: Actuators and sensors; transfer functions; tracking and disturbance rejection; PID control; feed forward control; resolved motion rate control
• Vision-based control: The geometry of image formation; feature extraction; feature tracking; the image Jacobian; visual servo control Advanced Topics (one or more of the following depending on the instructor): Lagrangian dynamics; parallel robots; mobile
LABORATORY TOPICS:
• Teach pendant programming; off-line programming; workcell generation; computer/robot interfacing; kinematics; symbolic math packages for robot kinematics; inverse kinematics; motion planning; trajectory planning; feedback control; camera calibration; feature detection and tracking; vision-based manipulation
ME: MechSE or technical elective.
EM: Possible secondary field, with approval.