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IUPUI School of Engineering and Technology

IUPUI School of Engineering and Technology

Analysis and Design of Robotic Manipulators

ME 59700 / 3 Cr.

Introduction to the analysis and design of robotic manipulators. Topics include kinematic configurations, forward and inverse position soluton, velocity and acceleration, path planning, off-line progamming, force and torque solutions, rigid body dynamics, motors and actuators, robot design, sensors, and controls, computer simulation and graphical animation.

Textbooks

S. Niku, "Introduction to robotics: analysis, systems, applications", Prentice Hall, 2001.

Outcomes

After completion of this course, the students should be able to:

  1. A knowledge of the current state of robotics and its applications and impact in our societies.
  2. An understanding of spatial coordinate transformation and an ability to define the coordinates and the corresponding kinematic parameters for robotic manipulators.
  3. An ability to solve forward and inverse kinematic equations. [a,e]
  4. An ability to analyze robotic motion using the concepts of Jacobian matrix. [a,e]
  5. An understanding of robot dymanic modeling and an ability to derive dynamic model using Lagrange's equations of motion.
  6. An ability to design robot motion trajectories to meet the design specifications and requirements. [a,c,e,k]
  7. An ability to analyze and design robot control systems using classical control design methods.
  8. A knowledge of advanced robot control techniques such as adaptive control, optimal trajectory planning and control, computed torque, etc.
  9. An ability to evaluate and test system performance using computer-aided tools. [a,c,e,k]
  10. An ability to program industrial robots to perform pre-specified tasks.

Note: The letters within the brackets indicate the general program outcomes of mechanical engineering. See: ME Program Outcomes.

Topics
  1. Introduction: robotics and automation, mechatronics, and applications
  2. Fundamentals of robot technology
  3. Kinematics: spatial description, homogeneous transformations
  4. Kinematics: D-H representation and tranformation matrices
  5. Inverse Kinematics: solvability and solutions
  6. Differential motions and robot Jacobian
  7. Robot programming languages
  8. Path/Trajectory planning
  9. Robot dynamaics: Euler-Langrange formulation
  10. Robot actuators
  11. Sensors and instrumentation
  12. Robot control: concept, classical control design techniques
  13. Robot control: computed torque technique
  14. Machine vision: introduction