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ME
450
Introduction to Robotics
A system engineering approach to robotic science and technology, fundamentals of manipulators, actuators, and end effectors, kinematics, control, and programming of manipulators, along with introduction to sensing, perception, pattern recognition and computer vision.
Prerequisites:
0600203,0600205,0600310,Completion of 90 credit hours
0630450
(3-0-3)

Textbook:

J. J. Craig, Introduction to Robotics, 3rd Edition, Pearson, 2004.

References:

  1. Philip J. McKerrow, Introduction to Robotics, Addison-Wesley, 1990.
  2. F. N. Nagy and A. Seigler, Engineering Foundation of Robotics, Prentice Hall, 1993.
  3. Y. Koren, Robotics for Engineers, McGraw Hill, 1985.

Coordinator:

Materials and Manufacturing TAG

Prerequisites by Topics

  1. Dynamics.
  2. Theory of Machine.
  3. Linear Algebra.
  4. Skills in high level programming language.

Course Objectives [^1]:

  1. To introduce students to the concept of robotics and its applications. (4)
  2. To teach students the mechanics of mechanical manipulators. (1)
  3. To teach students the control of mechanical manipulators. (1)
  4. To teach students on how to program robots to perform certain tasks.
  5. To expose students to the principle of sensing, measurement, and perception used in robotics. (6)

Topics

  1. Introduction to Robotics.
  2. Spatial Description and Transformation.
  3. Kinematics: Manipulator Position.
  4. Kinematics: Manipulator Motion.
  5. Manipulator Dynamics
  6. Drives and Control of Robotics.
  7. Task Planning and Trajectory Interpolation.
  8. Robot Programming.
  9. Sensors, Measurement, and Perception.
  10. Applications of Robots.

[^1] Numbers in parentheses refer to the student outcomes.

Evaluation Methods

  1. Quizzes and Exams
  2. Homework
  3. Computer Assignment
  4. Project (written report, oral, and visual presentations)
  5. Essay or Term paper

Learning Outcomes

Objective 1

1.1. Students will be able to recognize the basic structure of robots

1.2. Students will be able to classify robotic systems

1.3. Students will be able to identify the diverse application of robots in all disciplines and its impact on societies

Objective 2

2.1. Students will be able to describe the position and orientation of the end-effector of the mechanical manipulator in space (Forward Kinematics)

2.2. Students will be able to calculate all possible sets of joint angles needed to attain a given position and orientations of the end-effector of the mechanical manipulator in space (Inverse Kinematics)

2.3. Students will be able to utilize Newton's Law and Lagrange Equation to study the dynamics of mechanical manipulators

Objective 3

3.1. Students will be able to utilize linear control techniques for manipulator control

3.2. Students will be able to control position, force, trajectory following, and disturbance rejection for robotic systems

Objective 4

4.1. Students will be able to identify the three programming methods used in robotics: manual teaching, lead-through teaching, and explicit robot programming

4.2. Students will be able to develop simple programs to perform a certain task or to follow a certain trajectory

Objective 5

5.1. Students will be able to recognize the importance of sensing and perception for robots to respond to any changes in their environment

5.2. Students will be able to identify the different types of sensing systems used by robots: vision, range detectors, forces and torques sensors

Course Classification

Student Outcomes Level Relevant Activities
H, M, L
1. An ability to identify, formulate, and solve complex engineering problems by applying principles of engineering, science, and mathematics. H Modeling of manipulators, equation of motion, forward and inverse kinematics, dynamics; force and control techniques.
2. An ability to apply engineering design to produce solutions that meet specified needs with consideration of public health, safety, and welfare, as well as global, cultural, social, environmental, and economic factors.
3. An ability to communicate effectively with a range of audiences.
4. An ability to recognize ethical and professional responsibilities in engineering situations and make informed judgments, which must consider the impact of engineering solutions in global, economic, environmental, and societal contexts. L Effect of automation on society; Robots and new technologies (artificial intelligence)
5. An ability to function effectively on a team whose members together provide leadership, create a collaborative and inclusive environment, establish goals, plan tasks, and meet objectives.
6. An ability to develop and conduct appropriate experimentation, analyze and interpret data, and use engineering judgment to draw conclusions. L Laboratory experiments on various robots
7. An ability to acquire and apply new knowledge as needed, using appropriate learning strategies.

[^1] Numbers in parentheses refer to the student outcomes.