Course Description:

Classification of industrial robots; forward and inverse kinematics of anthropomorphic robots; local and global coordinate systems; dynamic forces on payloads; design of end effectors (grippers); computer interfacing with robot controllers; programming of industrial robots; industrial applications of robotics.

Instructor: M. Islam        V627

Pre-requisites: CET 3510

Co-requisites:   MAT 2580

Credits/Hours:  4 Credits / 3 Class Hours / 3 Lab Hours

Textbook:           Introduction to Robotics: Mechanics and Control (3rd Ed), by John J. Craig, 2004, Prentice Hall, ISBN-13: 978-0201543612

Reference:

• Introduction to Robotics: Analysis, Control, Applications 2nd Ed., by Saeed B. Niku, 2011, Wiley, ISBN-13: 978-0470604465

Course Learning Outcomes:

• Understand and be able to compute the forward and inverse Kinematics solution for an anthropomorphic robot.
• Given the necessary robot link lengths and a point in Cartesian coordinates, determine whether the point is within the robot’s work envelope, and, if so, determine the joint angles necessary to reach the point.
• Understand the differences between “global” and “local” coordinates for an anthropomorphic robot; also, recognize some of the special properties of matrices, and utilize matrices to carry out coordinate transformations.
• Understand the relationship between linear positioning accuracy and the accuracy of the internal joint angular position sensors.
• Understand (qualitatively) the deficiencies of typical control systems (i.e. steady state error, hunting, excessive overshoot, etc.) and the remedies which can be used to minimize or eliminate them i.e., adding integral and/or derivative control in the proper amounts).
• Become familiar with the design of external sensors and/or actuators to interface with a robot controller (via TTL logic) or a supervisory PC (via analog – to – digital conversion).
• Become familiar with the available sensors and navigation systems for mobile robots.
• In the laboratory, program a robot to carry out tasks assigned by the instructor, as appropriate for the type(s) of robot(s) available.
  

Topics:

• Introductions to Robotics
• LAB: Demo of robot – handout information
• Forward Kinematics (joint angles à Cartesian coordinates)
• LAB: Use of instructor supplied program to animate motion of robot
• Inverse Kinematics (Cartesian coordinates à joint angles)
• LAB: Introduction to Robot programming with teach pendant and computer
• Robot controllers
• Interfacing with PCs
• LAB: Introduction to scripting for robot control

(optional — special purpose languages for robot control)

• Sensor characteristics, selecting sensors for desired accuracy
• Interfacing external circuits with robot controller or PC
• LAB: Program robot to move between points
• LAB: Program robot for repetitive cycle using external sensors to detect events
• Coordinate systems, Review of matrices, Matrix addition and multiplication
• 2-D Coordinate transformations (without and with matrices), transformations between wrist and world coordinates (translation and rotation only)
• Combined translation and rotation transformations
• Control system characteristics (qualitative discussion)
• Review and/or additional topics assigned by instructor
• LAB: Complete projects
• LAB: Finish all projects

 

Grading Policy:

• Quizzes & other assignments 25%
• Mid Semester Exam 25%
• Lab Reports 25%
• Final Project 25%