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.
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