MAE 544 Real Time Robotics

3 Credit Hours

The course is designed for the first-year graduate program in either mechanical or electrical engineering. The course gives a thorough treatment of the kinematics and dynamics as well as key advances in motion control of robot manipulators. Students will develop proficiency in using homogeneous transformation for complex kinematic structures, in analyzing forward and inverse dynamics of linked mechanisms, and in developing motion control techniques for machines in 6-dimensional space. Along with issues in real-time control, the course covers practical issues related to sensing, feedback control under modeling inaccuracies, and parameter variation. The control techniques treated in the course have a wide range of applications in various industries such as in aerospace, machine tool, and heavy-equipment. The course will conclude with practical applications and emerging topics and future directions in robotics.

Prerequisite

Undergraduate dynamics, classical control, MatLab

Course Requirements

HOMEWORK: 5 Homework assignments on robot kinematics, dynamics, and control

EXAMINATIONS: One mid-term and Final Exam

SOFTWARE REQUIREMENTS: MatLab

PROJECTS: One four-week individual/group project on robot control

Reference Books

K.S. Fu, R.C. Gonzalez, and C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence (McGraw-Hill) ISBN: 978-0070226258

H. Asada and J-J. E. Slotine, Robot Analysis and Control (Wiley-Interscience) ISBN: 978-0471830290

F.L. Lewis, C.T. Abdallah, D.M. Dawson, Control of Robot Manipulator (MacMillan) ISBN: 978-0023705014

M. Shahinpoor, Robot Engineering Textbook (Harper and Row) ISBN: 006045931X