ME 445 - Introduction to Robotics

Spring 2021

Introduction to RoboticsAE482AB165307OLB00900 - 1050 T    
Introduction to RoboticsAE482AB265308OLB00900 - 1050 R    
Introduction to RoboticsAE482AB365309OLB01400 - 1550 T    Dhruv Chandra Mathur
Introduction to RoboticsAE482AB465310OLB01400 - 1550 R    Dhruv Chandra Mathur
Introduction to RoboticsAE482AB565311OLB00900 - 1050 M    Michelle Marie Zosky
Introduction to RoboticsAE482AB668178OLB01600 - 1750 T    
Introduction to RoboticsAE482AB768181OLB01600 - 1750 R    
Introduction to RoboticsAE482AL65306OLC41230 - 1350 T R    Joohyung Kim
Introduction to RoboticsECE470AB165294OLB00900 - 1050 T    
Introduction to RoboticsECE470AB265295OLB00900 - 1050 R    
Introduction to RoboticsECE470AB365296OLB01400 - 1550 T    Dhruv Chandra Mathur
Introduction to RoboticsECE470AB465297OLB01400 - 1550 R    Dhruv Chandra Mathur
Introduction to RoboticsECE470AB565298OLB00900 - 1050 M    Michelle Marie Zosky
Introduction to RoboticsECE470AB668176OLB01600 - 1750 T    
Introduction to RoboticsECE470AB768179OLB01600 - 1750 R    
Introduction to RoboticsECE470AL65293OLC41230 - 1350 T R    Joohyung Kim
Introduction to RoboticsME445AB165301OLB00900 - 1050 T    
Introduction to RoboticsME445AB265302OLB00900 - 1050 R    
Introduction to RoboticsME445AB365303OLB01400 - 1550 T    Dhruv Chandra Mathur
Introduction to RoboticsME445AB465304OLB01400 - 1550 R    Dhruv Chandra Mathur
Introduction to RoboticsME445AB565305OLB00900 - 1050 M    Michelle Marie Zosky
Introduction to RoboticsME445AB668177OLB01600 - 1750 T    
Introduction to RoboticsME445AB768180OLB01600 - 1750 R    
Introduction to RoboticsME445AL65300OLC41230 - 1350 T R    Joohyung Kim

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.


• 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


• 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.

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