ME 572: Analysis and Design of Robotic Manipulators (3 cr.)
Prerequisites:	ME 482 or equivalent, and any high-level programming languages
Textbook:	S. Niku, "Introduction to robotics: analysis, systems, applications", Prentice Hall, 2001,
Description:	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.
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