ME 445
ME 445 - Introduction to Robotics
Spring 2025
| Title | Rubric | Section | CRN | Type | Hours | Times | Days | Location | Instructor |
|---|---|---|---|---|---|---|---|---|---|
| Introduction to Robotics | AE482 | AB1 | 65307 | LAB | 0 | 0900 - 1050 | T | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | AE482 | AB2 | 65308 | LAB | 0 | 0900 - 1050 | R | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | AE482 | AB3 | 65309 | LAB | 0 | 1400 - 1550 | T | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | AE482 | AB4 | 65310 | LAB | 0 | 1400 - 1550 | R | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | AE482 | AB5 | 65311 | LAB | 0 | 0900 - 1050 | M | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | AE482 | AB6 | 68178 | LAB | 0 | 1600 - 1750 | T | 3071 Electrical & Computer Eng Bldg | Kaiwen Hong |
| Introduction to Robotics | AE482 | AB7 | 68181 | LAB | 0 | 1600 - 1750 | R | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | AE482 | AL | 65306 | LEC | 4 | 1230 - 1350 | T R | 1013 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ECE470 | AB1 | 65294 | LAB | 0 | 0900 - 1050 | T | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ECE470 | AB2 | 65295 | LAB | 0 | 0900 - 1050 | R | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ECE470 | AB3 | 65296 | LAB | 0 | 1400 - 1550 | T | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ECE470 | AB4 | 65297 | LAB | 0 | 1400 - 1550 | R | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ECE470 | AB5 | 65298 | LAB | 0 | 0900 - 1050 | M | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ECE470 | AB6 | 68176 | LAB | 0 | 1600 - 1750 | T | 3071 Electrical & Computer Eng Bldg | Kaiwen Hong |
| Introduction to Robotics | ECE470 | AB7 | 68179 | LAB | 0 | 1600 - 1750 | R | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ECE470 | AL | 65293 | LEC | 4 | 1230 - 1350 | T R | 1013 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | AB1 | 65301 | LAB | 0 | 0900 - 1050 | T | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | AB2 | 65302 | LAB | 0 | 0900 - 1050 | R | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | AB3 | 65303 | LAB | 0 | 1400 - 1550 | T | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | AB4 | 65304 | LAB | 0 | 1400 - 1550 | R | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | AB5 | 65305 | LAB | 0 | 0900 - 1050 | M | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | AB6 | 68177 | LAB | 0 | 1600 - 1750 | T | 3071 Electrical & Computer Eng Bldg | Kaiwen Hong |
| Introduction to Robotics | ME445 | AB7 | 68180 | LAB | 0 | 1600 - 1750 | R | 3071 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | AL | 65300 | LEC | 4 | 1230 - 1350 | T R | 1013 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | ZJU | 73878 | LEC | 4 | - | Katie Driggs-Campbell |
See full schedule from Course Explorer
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.