MEC 4470 - Introduction to Robotics

3 lecture hours 0 lab hours 3 credits

Course Description
This course introduces students to the fundamentals of robotics. Students learn the kinematics, dynamics, and control of open chain robots and mobile platforms. Students also envision innovative solutions to assist humans at home, offices, and public places with repetitive tasks and/or help persons with disabilities. Simulation tools such as MATLAB and Simulink are used to visualize, plan, and validate the required motions. (prereq: MEC 4310) (quarter system prereq: ME 4302)

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

Basic circuits
Rigid dynamics
Programming
Familiarity with MATLAB and Simulink environments

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 and 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

Coordinator
Dr. Luis A. Rodriguez

Announcement

The Raider Return

Milwaukee School of Engineering

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MEC 4470 - Introduction to Robotics