# Course Websites

## ME 445 - Introduction to Robotics

### Spring 2021

#### 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.

TitleSectionCRNTypeHoursTimesDaysLocationInstructor
Introduction to RoboticsAB165301OLB00900 - 1050 T
Introduction to RoboticsAB265302OLB00900 - 1050 R
Introduction to RoboticsAB365303OLB01400 - 1550 T
Introduction to RoboticsAB465304OLB01400 - 1550 R
Introduction to RoboticsAB565305OLB00900 - 1050 M
Introduction to RoboticsAB668177OLB01600 - 1750 T
Introduction to RoboticsAB768180OLB01600 - 1750 R
Introduction to RoboticsAL65300OLC41230 - 1350 T R    Joohyung Kim