Aug 10, 2022  
2020-2021 Undergraduate Academic Catalog 
2020-2021 Undergraduate Academic Catalog [ARCHIVED CATALOG]

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ME 4304 - Introduction to Robotic Systems

3 lecture hours 0 lab hours 3 credits
Course Description
The purpose of this course is to introduce students to the kinematics, dynamics and control of open chain robots and mobile platforms to create innovative solutions to assist humans at home, offices, and public places with repetitive chores and/or help persons with disabilities. Simulation tools (e.g., MATLAB and Simulink) will be used to visualize, plan and validate the required motions. (prereq: ME 2003 , ME 230 , MA 383 )
Course Learning Outcomes
Upon successful completion of this course, the student will be able to:
  • Determine the forward and inverse kinematics for typical serial chained robots
  • Use rotational matrices and homogeneous transformations to describe coordinate frames
  • Simulate robot motion using MATLAB/Simulink
  • Model the kinematics of a differential drive robot
  • Implement control strategies to plan robot motions

Prerequisites by Topic
  • Differential equations
  • Dynamics of systems
  • Block diagrams
  • Matrix operations

Course Topics
  • Introduction to robots
  • Coordinate frames, rigid motion and homogeneous transforms
  • Rotation matrices and parameterized rotations
  • Displacements, compositions of rigid motions
  • Forward and inverse kinematics
  • Velocity kinematics & manipulator Jacobian
  • Singularities
  • Static forces
  • Motion planning and trajectory generation
  • Dynamics
  • Independent joint control
  • Feedforward compensation
  • PD with gravity compensation
  • Mobile robot kinematics
  • Differential drive kinematics
  • Projects: Online programming of UR3 Cobot & Offline programming of ABB Industrial Robot

Dr. Luis A. Rodriguez

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