Electrical and Computer Engineering

441. Robotics.  Introduction to the operation of industrial manipulators. Robotic theory including homogeneous coordinate transformations; kinematics and dynamics of articulate manipulator arms, and elements of feedback control theory. The design of hardware and software used for motion control. Introduction to computer vision and artificial intelligence.  Three lectures.  (Cr.3) 

Prerequisites:     Senior Status.

Goals:         To present the theory necessary to understand the design and operation of

                     robotic manipulators, to explore appropriate applications of robotics and to

                     survey current research and development in this field. 

Texts:          Robotics Engineering an Integrated Approach, R. D. Klafter, T. A.

                     Chmielewski, M. Negin. Prentice Hall 1989.

Prerequisites by Topic:

      1.      Matrix Mathematics, Transformation theory - the Jacobian

      2.      Systems theory - Laplace and Z transforms

      3.      Lagrangian Dynamics

      4.      Applications of microprocessors

Topics:

      1.      Introduction and Classification of Robotics (3 lectures)

      2.      Robot Kinematics, D-H Transformations, The Jacobian (12 lectures)

      3.      Systems modeling, Manipulator and Actuator Dynamics (6 lectures)

      4.      Sensors, Feedback and Actuator Control. (9 lectures)

      5.      Control of Multijoint manipulators, Coordinated motion. (3 lectures)

      6.      Robotic Vision and Artificial Intelligence. (6 lectures)

Computer Usage:

                Some students used Mathcad, CCAP and PSPICE to compute robot

                kinematics and simulate control systems. 

ABET Category content as estimated by faculty member who prepared this course description:    Engineering Science: 3 credits or l00% 

Prepared by:     Brother Henry Chaya