ME 317 Robotics

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.

Prerequisite: Senior standing in ME

Text: Introduction to Robotics Mechanics and Control. John J. Craig. Addison-Wesley Publishing Company.

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 tasks.

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
18/31,9/2,4 Chap. 11.4,1.5,1.6,1.7 9/9/98
29/9,11 2.1-2.3
39/14,16,18 2.4-2.92.1,2.4,2.12 9/21/98
49/21,23,25 2.27,2.34,2.37,2.40 (Any language) 9/28/98
59/28,30,10/2 Robot program 1 10/5/98
610/5,7,9 3.1-3.2
710/12,14 3.3-3.93.2, 3.17,3.21 10/26/98
8off,10/21,23
910/26,28,30 4.1-4.34.2,4.18,4.19,4.20,4.21,4.22 11/9/98
1011/2,off, off 4.4-4.10Robot program 2 11/23/98
1111/9,11,13
1211/23,24 5.1-5.35.5 11/30/98
1311/30,12/2,2 5.4-5.11
1412/7,9,11 Project demonstration 12/9/98

Design Project Report Format

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 absencesNo effect of final grade
4 AbsencesFinal grade lowered by 0.5 Pts.
5 AbsencesFinal 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.