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 ASME

 Pi Tau Sigma


Mohsen (Mo) Shahinpoor

MEE 697-2: Advanced Robot Kinematics, Dynamics and Control

Course Description:

This course covers advanced geometries of
robots, k Kinematics design of robots, Denavit-Hartenberg transformation of position and orientation, c Coordination and trajectory synthesis, robotics differential relationships, equivalence of differential transformations, the manipulator Jacobian and its inverse design of motion trajectories, dynamics, design and control of robotic manipulators, position and speed control of robots, Newton- Euler, Lagrangian and Bond-graph dynamic modeling, robotic control theories, steady state servo control for manipulators, error controlled systems, some structural design considerations, voltage-torque conversion, open and closed loop control systems, feed back control of positional vibrations of manipulators and static and dynamic forces in robots. Further, some current topics in intelligent robotics, robotic surgery, sensors, optical and ultrasonic vision and tactile sensing, dexterity of work space, grey-scale imaging, connectivity analysis and project presentations are covered.

Instructor:   Prof. Mohsen Shahinpoor, 219A Boardman Hall, 581-2143

Class Hours:   TTH 1:00-2:15 in 209 Boardman

Office Hours:  TTH 11:00AM-12:00 Noon

Prerequisites:  Undergrad Controls, Graduate Standing

Text:                Intelligent Robotic Systems, M. Shahinpoor, ERI Press, (1994)

Technical software: MATLAB Student Version Release 14 (includes Matlab v.7 and Simulink). Need to also purchase the Control System Toolbox (at a later date). 

Course Policy and Syllabus

 

Department of Mechanical Engineering
5711 Boardman Hall, Room 219
Orono, ME 04469-5711
Phone: (207) 581-2120 | Fax: (207) 581-2379

E-mail: megsmith@maine.edu


The University of Maine
, Orono, Maine 04469
207-581-1110
A Member of the University of Maine System