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ELEC 448 Introduction To Robotics Units: 3.50
Robotics is an interdisciplinary subject concerning areas of mechanics, electronics, information theory, control systems and automation. This course provides an introduction to robotics and covers fundamental aspects of modeling and control of robot manipulators. Topics include history and application of robotics in industry, rigid body kinematics, manipulator forward, inverse and differential kinematics, workspace, singularity, redundancy, manipulator dynamics, trajectory generation, actuators, sensors, and manipulator position and contact force control strategies. Applications studied using MATLAB/Simulink software simulation and laboratory experiments.
NOT OFFERED 2024-2025
(Lec: 3, Lab: 0.5, Tut: 0)
NOT OFFERED 2024-2025
(Lec: 3, Lab: 0.5, Tut: 0)
Requirements: Prerequisites:
Corequisites: ELEC 443 or MTHE 332 or MECH 350
Exclusions: MECH 456, MREN 348
Offering Term: F
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 0
Engineering Science 16
Engineering Design 26
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Derive minimal representation of rotation matrices and transform coordinates.
- Assign coordinate frames to robot manipulators according to DH convention and derive their kinematic equations.
- Derive geometric Jacobian of robot manipulators and analyze the manipulator singularity.
- Derive the dynamics of robot manipulators and simulate them in MATLAB.
- Design and evaluate position and force controllers for robot manipulators.