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MREN 348 Introduction to Robotics Units: 4.00
Robotics is an interdisciplinary subject concerning areas of mechanics, electronics, information theory, control systems and automation. This course provides an introduction to robotics and covers fundamental aspects of modeling and control of robot manipulators. Topics include history and application of robotics in industry, rigid body kinematics, manipulator forward, inverse and differential kinematics, workspace, singularity, redundancy, manipulator dynamics, trajectory generation,
actuators, sensors, and manipulator position and contact force control strategies. Applications studied using MATLAB/Simulink software simulation and laboratory experiments.
(Lec: 3, Lab: 0.5, Tut: 0.5)
actuators, sensors, and manipulator position and contact force control strategies. Applications studied using MATLAB/Simulink software simulation and laboratory experiments.
(Lec: 3, Lab: 0.5, Tut: 0.5)
Requirements: Prerequisites: ELEC 443 or MECH 350, or permission of the instructor.
Corequisites:
Exclusions:
Offering Term: W
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 0
Engineering Science 22
Engineering Design 26
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Derive minimal representation of rotation matrices and transform coordinates.
- Assign coordinate frames to robot manipulators according to DH convention and derive their kinematic equations.
- Derive geometric Jacobian of robot manipulators and analyze the manipulator singularity.
- Derive the dynamics of robot manipulators and simulate them in MATLAB Simulink.
- Design and evaluate position and force controllers for robot manipulators.
- Numerically validate coordinate transformations, and manipulator kinematic equations, geometric Jacobian and singularity using MATLAB.
- Investigate the effect of singularity on path following and gravity on set-point tracking.
- Describe appropriate safety considerations in working with robotic equipment.