1998 catalog data: ME 317 Robotics Three Credits
Analysis and design of robots. Class covers the
mechanical principles which govern the kinematics of robotics.
Course topics include forward kinematics and determination of
the closed form kinematics inversion, as well as workspace and
trajectory generation. Class also covers the formation and computation
of the manipulator Jacobian matrix. Three hours lecture a week.
standing in ME
Text: Introduction to
Robotics Mechanics and Control. John J. Craig. Addison-Wesley
Goals: This course will
introduce students to the capabilities and the challenges of robotic
devices. Students will become familiar with robot structure and
the mathematical rigors of robot motion computation. Students
will develop robot programs for execution in a simulated environment
as well as operation of the Puma 760 robot in the CAE lab.
Prerequisites 1. Basics of control systems, feedback and stability
by topic: 2. Computer
program development and the C language
Topics: 1. Introduction to robots. Formal definition of a robot. Robot components: revolute and prismatic joints, end effectors. Motion computation and homogeneous transforms.
2. Robot kinematics. D-H Parameters and workspace calculation. Forward kinematic computation. Example forward kinematics calculation for various robots.
3. Inverse kinematics. Algorithm development. Closed form and iterative solutions. Configuration parameters and kinematic singularities.
4. Path planning and robot motion generation. Spline generation and smooth motion transition.
5. Robot program development. Transform mathematics and motion specification. Joint and Cartesian mode motion. Singularity avoidance and workspace limitation.
6. End effectors and tool usage. Robot accuracy,
repeatability and precision. Robot programming for manipulation
Projects: An open-ended
design project will be assigned. Project will involve the performance
of a designated task with the robot. This project will include
constructing an appropriate end effector and tool fixtures and
programming the robot.
Computer Usage: Computers
will be used extensively in all aspects of this course.
ABET Content: 50% Engineering Science
50% Engineering Design
Prepared by: M.R. Stein Date: August 19, 1996
Exams: 1st Hourly Exam 10/12/98
2nd Hourly Exam 11/9/98 (Take home)
Final Exam Announced later
Grading: 1 Hour exam 15% each
Homework 15 %
Programs 15 %
Project 20 %
Final Exam 20 %
|Week||Dates||Reading||HW To Be Assigned||Due Date|
|4||9/21,23,25||2.27,2.34,2.37,2.40 (Any language)||9/28/98|
|5||9/28,30,10/2||Robot program 1||10/5/98|
|10||11/2,off, off||4.4-4.10||Robot program 2||11/23/98|
The required format for the design project report
is available on the MME web site (http://wilkes.edu/~mme),
which includes example reports. All project submissions must
follow this format.
Formal Attendance and Lateness Policy:
Absences: Unavoidable absences do not excuse students from responsibility for course material. Following a class absence, the student must contact the instructor and attend the next regularly scheduled office hour to receive additional make-up assignments. These assignments will contribute to the Homework/Quiz/Lab portion of the final grade. Failure to contact the instructor or turn in the make-up assignment on time will result in a grade of zero for that assignment. This policy is in effect for un-excused as well as officially excused university absences (e.g. illness, sports, etc.)
Non-university excused absences:
|Up to 3 absences||No effect of final grade|
|4 Absences||Final grade lowered by 0.5 Pts.|
|5 Absences||Final grade lowered by 1.0 Pts.|
|6 or more absences||Final grade of 0 assigned (Official withdrawal recommended).|
Late assignments: One assignment per semester may
be turned in late without consequence. All other late assignments
may be turned in up till the last day of class for 50% credit.