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EE 483, Introduction to Automation & Robotics Systems

Spring 2015
Instructor:

Scott van Tonningen, Ph.D.


Office: W-256 Office B
Email: szv2@psu.edu

Time and Place:


Wednesday

6:00 8:50 p.m., room 258E

Office Hours:
MW

1:00 2:15 p.m.

TTH

4:00 5:15 p.m.

Any other times by appointment ONLY


Course Prerequisites:

For EE 483:

EE 481

Textbook:
Saeed B Niku, Introduction to Robotics: Analysis, Systems, Applications, 2nd Edition, Prentice
Hall, 2010.
References:
-

Jazar, Theory of Applied Robotics: Kinematics, Dynamics, and Control, 2nd Ed., Springer, 2010.
Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Springer, 2013.
Craig, Introduction to Robotics: Mechanics and Control, 3rd Edition, Prentice Hall, 2005.
Spong and Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, 1989.
Nise, Control Systems Engineering, 4th Edition, John Wiley & Sons, 2004.
Bolton, Mechatronics: Electronic Control Systems in Mechanical and Electrical Engineering,
3rd Edition, Prentice Hall, 2003.
Rehg and Sartori, Industrial Electronics, Prentice Hall, 2006.
Rehg and Sartori, Programmable Logic Controllers, 2nd Edition, Prentice Hall, 2009.

Course Topics:

Robot fundamentals history, categories, terminology, applications


Robot kinematics positioning, coordinate systems, matrix models, transformations
Robot kinematics motion, differential relationships, linearization, Jacobian
Robot dynamic analysis modeling with conservation of energy techniques
Robot trajectory planning path, timing, optimal trajectory design
Robot control systems review of controls, PID design
Robot actuators and drives types, characteristics, models, performance, control
Robot sensors types, characteristics, models, performance
Robot vision image processing, sampling, noise, detection, filtering, segmentation
Programmable logic controllers (PLCs) applications, programming

Grading Policy:

Item
Midterm exam*
Final exam*
Design project
PLC Mini-project
Total

Points
200
300
200
100
800

% of Grade
25.0%
37.5%
25.0%
12.5%
100%

*Note: Exams will be open book, open notes

Design Project

Students are expected to use a team approach (two-person teams) to select a robotic design problem,
generate appropriate models, design a solution, simulate and demonstrate (as appropriate) the solution,
and use IEEE format to write a paper. The paper will be due at the end of the semester. A demo must
be scheduled with the course instructor.

PLC Mini-project

During the block on Programmable Logic Controllers (PLCs) a programming project will be assigned as
homework. It will be carried out on the PLC simulator and the commented code will be submitted.

Statement of Academic Integrity

Any academic dishonesty in this course will be dealt with in accordance with the appropriate policies
and rules of the University. Information about academic integrity is found in
http://www.hbg.psu.edu/hbg/acadint.html. Every student must read this policy. If you cheat, plagiarize
or otherwise violate the academic integrity policy at PSU Harrisburg, there are academic penalties, may
be other penalties, and it becomes part of your academic record.
Statement of Professional Integrity and Quality Improvement

Students are expected to follow the IEEE code of ethics: http://www.ieee.org/about/whatis/code.html.


Students are expected to become familiar with the ten basic rules of this code.

Email

All students are required to check their PSU email regularly to ensure they receive communications from
various offices on campus regarding registration, student accounts, internships, class cancellation, etc.

Computer Usage:
All students should have a familiarity with the use of MATLAB and Simulink. These programs are
useful for checking homework as well as performing the simulations necessary for the Final Project.

Note to students with disabilities


It is Penn States policy not to discriminate against qualified students with documented disabilities in its
educational programs. If you have a disability related need for modifications in this course, contact your
instructor and the Disability Service Coordinator in the Student Assistance Center (W117, Olmsted, ext.
6025). Instructors should be notified during the first week of classes.
Class Cancellation
In the unlikely event I must cancel a class meeting based on circumstances other than weather, I will post
an announcement on Angel and send an email to the class.
Tentative Course Schedule:

Week

Chapter

Topic(s)
Robot fundamentals

Homework
None

NO MEETING

Snow cancellation

Robot kinematics - positioning

2.1 2.19 (odds)

Robot kinematics - motion

3.1 3.11 (odds)

Robot trajectory planning

5.1 5.7 (odds)

Robot control systems - review

6.2, 6.5, 6.11, 6.16,


6.19, 6.20

7
8

Midterm exam 2/25

Midterm exam (2/25)


7

Robot actuators and drives

Events

7.1 7.7 (odds)

Final Project proposal


(paragraph) due 3/6

Spring Break (March 8 15)


9

Robot sensors

None

10

Robot vision

9.1, 9.3, 9.7, 9.16,


9.19, 9.20, 9.29

11

Handout

Robot control systems applications

Handout

12

Handout

Programmable Logic Controllers

Handout (project)

13

Project time (no class meeting)

14

Project time (no class meeting)

15

Final exam review (4/29)


Final Exam (week of May 4th; details to be announced)

PLC Mini-project due


4/24
Final project due 5/1