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    ME431 - Introduction To Robotics and Automation: Department of Mechanical Engineering

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    Dr. Maqsood Ahmed Khan
    The course introduces students to robot mechanics, kinematics, dynamics, trajectory generation, control systems, and their application in product design and automation through weekly lectures and a potential hands-on project. Prerequisites include programming skills, dynamics, and course objectives aim to develop students' understanding of robot structures, spatial transformations, forward/inverse kinematics, singularities, and trajectory planning. Evaluation includes exams, homework, and a potential student project.

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    ME431 - Introduction To Robotics and Automation: Department of Mechanical Engineering

    Uploaded by

    Dr. Maqsood Ahmed Khan
    18 views2 pages
    The course introduces students to robot mechanics, kinematics, dynamics, trajectory generation, control systems, and their application in product design and automation through weekly lectures and a potential hands-on project. Prerequisites include programming skills, dynamics, and course objectives aim to develop students' understanding of robot structures, spatial transformations, forward/inverse kinematics, singularities, and trajectory planning. Evaluation includes exams, homework, and a potential student project.

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    ME431_F07

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    The course introduces students to robot mechanics, kinematics, dynamics, trajectory generation, control systems, and their application in product design and automation through weekly lectures and a potential hands-on project. Prerequisites include programming skills, dynamics, and course objectives aim to develop students' understanding of robot structures, spatial transformations, forward/inverse kinematics, singularities, and trajectory planning. Evaluation includes exams, homework, and a potential student project.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    18 views2 pages

    ME431 - Introduction To Robotics and Automation: Department of Mechanical Engineering

    Uploaded by

    Dr. Maqsood Ahmed Khan
    The course introduces students to robot mechanics, kinematics, dynamics, trajectory generation, control systems, and their application in product design and automation through weekly lectures and a potential hands-on project. Prerequisites include programming skills, dynamics, and course objectives aim to develop students' understanding of robot structures, spatial transformations, forward/inverse kinematics, singularities, and trajectory planning. Evaluation includes exams, homework, and a potential student project.

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    © All Rights Reserved
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    Department of Mechanical Engineering

    ME431– Introduction to Robotics and Automation


    Elective

    Catalog Description: ME 431 (3-0-3)

    Introduction to mechanics and control of robotic manipulators. Topics include spatial


    transformations, kinematics, dynamics, trajectory generation, actuators and control, and
    relations to product design and flexible automation.

    Prerequisites: Mech 236 – Dynamics


    CIS 101 –Computer Programming and Problem Solving

    Textbook(s) Materials Required:


    John J. Craig, Introduction to Robotics: Mechanics and Control, 3rd Ed., Prentice-Hall,
    2005.

    Course Supervisor: Dr. Z. Ji

    Pre-requisite by topic
    1. Programming in a high-level language and its use in solving engineering problems
    2. Motion of rigid bodies and kinematics of mechanisms
    3. Dynamics

    Course Objectives1:
    1. To develop the student’s knowledge in various robot structures and their workspace.
    (A, B, C)
    2. To develop student’s skills in performing spatial transformations associated with rigid
    body motions. (A, B, C)
    3. To develop student’s skills in perform kinematics analysis of robot systems.(A, B, C)
    4. To provide the student with knowledge of the singularity issues associated with the
    operation of robotic systems. (A, B, C)
    5. To provide the student with some knowledge and analysis skills associated with
    trajectory planning. (A, B, C)
    6. To provide the student with some knowledge and skills associated with robot control.
    (A, B, C)

    Topics2 :
    1. Robot Structure and Workspace
    2. Spatial Transformations
    3. Orientation Matrices
    4. Forward Kinematics
    5. Inverse Kinematics
    6. Jacobian and Singularities
    7. Trajectory Generation
    8. Robot Controller (hands-on project if the class enrollment is not too large)

    Evaluation Method:
    1. Exam
    2. Homework
    3. Project

    Schedule: Lecture Recitation: 3 hours, per week

    Professional Component: Engineering Science

    Program Objectives Addressed: A, B, C

    Course Outcomes3:
    Objective 1
    1.1 Students will demonstrate knowledge of the relationship between mechanical
    structures of industrial robots and their operational workspace characteristics. (1,2,3)
    (a,e,k,m,n)
    Objective 2
    2.1. Students will demonstrate an ability to apply spatial transformation to obtain forward
    kinematics equation of robot manipulators. (1,2,3) (a,e,k,m,n)
    Objective 3
    3.1. Students will demonstrate an ability to solve inverse kinematics of simple robot
    manipulators. (1,2) (a,e,k)
    Objective 4
    4.1. Students will demonstrate an ability to obtain the Jacobian matrix and use it to
    identify singularities. (1,2,3) (a,e,m,n)
    Objective 5
    5.1 Students will demonstrate an ability to generate joint trajectory for motion
    planning. (1,2,3) (a,k,n)
    Objective 6
    6.1 Students will demonstrate knowledge of robot controllers. (1,2,3) (k,n)

    Prepared by: Z. Ji Date: September 21, 2006


    ________________________________________________________________________
    1
    Capital Letters in parenthesis refer to the Program Objectives of the Mechanical
    Engineering
    Department. Listed in Sec 2d Tables B-2-9, B-2-12. Table B-2-8 links Program
    Objectives with the ABET a-k Criterion.
    2
    Topic numbers in parenthesis refer to lecture hours. (Three hours is equivalent to 1
    week)
    3
    Outcome numbers in parenthesis refer to evaluation methods used to assess the student
    performance. Lower case letters in parenthesis refer to ABET a-k outcomes.

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