ME 445 - Introduction to Robotics

Spring 2024

TitleRubricSectionCRNTypeHoursTimesDaysLocationInstructor
Introduction to RoboticsAE482AB165307LAB00900 - 1050 T  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsAE482AB265308LAB00900 - 1050 R  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsAE482AB365309LAB01400 - 1550 T  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsAE482AB465310LAB01400 - 1550 R  3071 Electrical & Computer Eng Bldg Kazuki Shin
Introduction to RoboticsAE482AB565311LAB00900 - 1050 M  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsAE482AB668178LAB01600 - 1750 T  3071 Electrical & Computer Eng Bldg Kaiwen Hong
Introduction to RoboticsAE482AB768181LAB01600 - 1750 R  3071 Electrical & Computer Eng Bldg Kaiwen Hong
Introduction to RoboticsAE482AL65306LEC41230 - 1350 T R  1013 Electrical & Computer Eng Bldg Mohamed Ali Belabbas
Introduction to RoboticsECE470AB165294LAB00900 - 1050 T  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsECE470AB265295LAB00900 - 1050 R  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsECE470AB365296LAB01400 - 1550 T  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsECE470AB465297LAB01400 - 1550 R  3071 Electrical & Computer Eng Bldg Kazuki Shin
Introduction to RoboticsECE470AB565298LAB00900 - 1050 M  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsECE470AB668176LAB01600 - 1750 T  3071 Electrical & Computer Eng Bldg Kaiwen Hong
Introduction to RoboticsECE470AB768179LAB01600 - 1750 R  3071 Electrical & Computer Eng Bldg Kaiwen Hong
Introduction to RoboticsECE470AL65293LEC41230 - 1350 T R  1013 Electrical & Computer Eng Bldg Mohamed Ali Belabbas
Introduction to RoboticsME445AB165301LAB00900 - 1050 T  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsME445AB265302LAB00900 - 1050 R  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsME445AB365303LAB01400 - 1550 T  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsME445AB465304LAB01400 - 1550 R  3071 Electrical & Computer Eng Bldg Kazuki Shin
Introduction to RoboticsME445AB565305LAB00900 - 1050 M  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsME445AB668177LAB01600 - 1750 T  3071 Electrical & Computer Eng Bldg Kaiwen Hong
Introduction to RoboticsME445AB768180LAB01600 - 1750 R  3071 Electrical & Computer Eng Bldg Kaiwen Hong
Introduction to RoboticsME445AL65300LEC41230 - 1350 T R  1013 Electrical & Computer Eng Bldg Mohamed Ali Belabbas
Introduction to RoboticsME445ZJU73878LEC4 -     Katie Driggs-Campbell

Official Description

Course Information: Same as AE 482 and ECE 470. See ECE 470.

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.

Last updated

9/25/2018