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

Coordinator
Dr. Luis A. Rodriguez

Announcement

The Raider Return

Milwaukee School of Engineering

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ME 4304 - Introduction to Robotic Systems