MECHANICAL ENGINEERING AND MATERIALS SCIENCE MECH/COMP/ELEC 498 MECH 598 SPRING 2014 Introduction to Robotics Instructor: Marcia

OMalley Office: MEB 234 Office Hours: By appointment T-Th 1:00-2:15 PM Room ME 128 Phone: (348)-3545 Email: omalleym@rice.edu

Lectures: Webpage: TA Info:

see Owlspace James French (jaf12@rice.edu) and Craig McDonald (craig.g.mcdonald@gmail.com), both in RL B10, x2300 This is an upper-division undergraduate level or graduate level introduction to robotics with emphasis on the mathematical tools for describing the kinematics and dynamics of robot arms. Topics include the geometry and mathematical representation of rigid body motion, forward and inverse kinematics of articulated mechanical arms, trajectory generation, manipulator dynamics, actuation, sensing and design issues, and manipulator control, plus additional special topics. Course work includes weekly problem sets or computational laboratories (using Matlab), a small project, a mid-term examination, and a final examination. Active class participation is expected. This course is appropriate for students in Mechanical Engineering, Computer Science, Electrical Engineering, and Biomedical Engineering. Suggested prerequisites or co-requisites include: Multivariable integral and differential calculus Classical physics Linear algebra Ordinary differential equations Linear control theory Programming: Knowledge of the Matlab including data input/output, 1-D and 2-D arrays, and user-defined function calls. Students with experience in other programming languages (C, C++, FORTRAN, Pascal, Java, etc.) should be able to self-tutor themselves in Matlab as part of the laboratory exercises. John J. Craig. Introduction to Robotics Mechanics and Control (Third Edition). Addison Wesley, Reading, MA, 2005. Robot Modeling and Control, M. Spong, S. Hutchinson, M. Vidyasagar. John Wiley & Sons Robotics and Automation Handbook, Edited by Tom Kurfess CRC Press

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Assignments: There will be regular, biweekly homework assignments. There will also be regular, biweekly laboratory assignments and a short project at the end of the semester Grading: Homework Labs Project Midterm Exam 15% 15% 20% 25%

Final Exam

25%

Policies: Homework and laboratory assignments are to be submitted to the MEMS dropbox at any time on the due date. No credit will be given for late problem sets or laboratory assignments unless previously approved by the instructor. The single lowest grade problem set will be dropped from your final grade. No lab assignment grades will be dropped. You are responsible for all information given in class verbally and/or in writing. Cooperative efforts at understanding the material and the assignments of the course are encouraged. However, you may only submit work that you have completed individually. Note: Any student with a disability requiring accommodation in this course is encouraged to contact the instructor after class or during office hours. A student who successfully completes this course should be able to: Name various applications of robots Describe the current and potential economic and societal impacts of robot technology Describe rigid body motions using positions, orientations, frames, and mappings Create and use the following operators: translations, rotations, and transformations Describe orientations using Euler angles, fixed angles, and quaternions Develop the forward kinematic equations for an articulated manipulator Develop the inverse kinematic equations for an articulated manipulator Describe the position and orientations of a robot in terms of joint space, Cartesian space, and operational space Develop the Jacobian for a specific manipulator Use the Jacobian to transform velocities and forces from joint space to operational space Determine the singularities of a robot manipulator Write the dynamic equations of a robot manipulator using the Newton-Euler formulation Write the dynamic equations of a robot manipulator using the Lagrangian Formulation Formulate the dynamic equations of a robot manipulator in joint space and in Cartesian space List the major design parameters for robot manipulators and mobile robots List the typical sensing and actuation methods used in robots Design PID, joint space, operational space, and force controls for a robot manipulator Analyze the workspace of a robot manipulator List the special requirements of haptic devices and medical robots Use Matlab to model robotic systems Effectively communicate research results

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