University of Illinois at Urbana-Champaign
The Grainger College of Engineering
Mechanical Science & Engineering

ME 445 - Introduction to Robotics

Fall 2022

TitleRubricSectionCRNTypeHoursTimesDaysLocationInstructor
Introduction to RoboticsAE482AB154489LAB00900 - 1050 T  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsAE482AB254490LAB00900 - 1050 R  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsAE482AB354491LAB01500 - 1650 T  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsAE482AB459292LAB01500 - 1650 R  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsAE482AB563487LAB01400 - 1550 W  3071 Electrical & Computer Eng Bldg Neeloy Chakraborty
Introduction to RoboticsAE482AB669206LAB00900 - 1050 W  3071 Electrical & Computer Eng Bldg Kaiwen Hong
Introduction to RoboticsAE482AB770611LAB00900 - 1050 M  3071 Electrical & Computer Eng Bldg Neeloy Chakraborty
Introduction to RoboticsAE482AL154488LEC41230 - 1350 T R  1015 Electrical & Computer Eng Bldg Yuliy Baryshnikov
Introduction to RoboticsECE470AB136913LAB00900 - 1050 T  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsECE470AB236943LAB00900 - 1050 R  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsECE470AB341536LAB01500 - 1650 T  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsECE470AB459290LAB01500 - 1650 R  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsECE470AB563483LAB01400 - 1550 W  3071 Electrical & Computer Eng Bldg Neeloy Chakraborty
Introduction to RoboticsECE470AB669204LAB00900 - 1050 W  3071 Electrical & Computer Eng Bldg Kaiwen Hong
Introduction to RoboticsECE470AB770610LAB00900 - 1050 M  3071 Electrical & Computer Eng Bldg Neeloy Chakraborty
Introduction to RoboticsECE470AL136956LEC41230 - 1350 T R  1015 Electrical & Computer Eng Bldg Yuliy Baryshnikov
Introduction to RoboticsME445AB136926LAB00900 - 1050 T  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsME445AB236954LAB00900 - 1050 R  3071 Electrical & Computer Eng Bldg Yizhen Lu
Introduction to RoboticsME445AB341576LAB01500 - 1650 T  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsME445AB459291LAB01500 - 1650 R  3071 Electrical & Computer Eng Bldg Chuyuan Tao
Introduction to RoboticsME445AB563485LAB01400 - 1550 W  3071 Electrical & Computer Eng Bldg Neeloy Chakraborty
Introduction to RoboticsME445AB669205LAB00900 - 1050 W  3071 Electrical & Computer Eng Bldg Kaiwen Hong
Introduction to RoboticsME445AB770612LAB00900 - 1050 M  3071 Electrical & Computer Eng Bldg Neeloy Chakraborty
Introduction to RoboticsME445AL136961LEC41230 - 1350 T R  1015 Electrical & Computer Eng Bldg Yuliy Baryshnikov

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

Questions?
MS/PhD: mechse-grad@illinois.edu
M.Eng.ME: mechse-meng@illinois.edu

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