Course Websites

ME 445 - Introduction to Robotics

Last offered Spring 2022

Official Description

Course Information: Same as AE 482 and ECE 470. See ECE 470.

Related Faculty

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 RoboticsAB165301LAB00900 - 1050 T  3071 Electrical & Computer Eng Bldg 
Introduction to RoboticsAB265302LAB00900 - 1050 R  3071 Electrical & Computer Eng Bldg 
Introduction to RoboticsAB365303LAB01400 - 1550 T  3071 Electrical & Computer Eng Bldg 
Introduction to RoboticsAB465304LAB01400 - 1550 R  3071 Electrical & Computer Eng Bldg 
Introduction to RoboticsAB565305LAB00900 - 1050 M  3071 Electrical & Computer Eng Bldg 
Introduction to RoboticsAB668177LAB01600 - 1750 T  3071 Electrical & Computer Eng Bldg 
Introduction to RoboticsAB768180LAB01600 - 1750 R  3071 Electrical & Computer Eng Bldg 
Introduction to RoboticsAL65300LEC41230 - 1350 T R  1015 Electrical & Computer Eng Bldg Joohyung Kim