ME 418/518-Mechanical Consideration In Robotics S2016 Jan 12-Apr 28
Dr. Greg R. Luecke, Phd, PE
2016 Black Engineering
grluecke@iastate.edu
www.public.iastate.edu/~grluecke/ME418_518
Text:
Introduction To Robotics-3rd Ed.
J.J. Craig, Addison-Wesley
*earlier editions are OK to use
SPRING BREAK!-March 14-18
1)
TTh-
Introduction
Ch 1, Ch 2
Background
Descriptions, Mappings, Operators
2)
Position and Orientation Ch 2
TTh-
Transformation Arithmetic
Representation of Orientation
3)
TTh-
Kinematics
Geometry
D-H Descriptions
4)
TTh-
Kinematics
Ch 3
Frames and Spaces
Computation and Examples
5)
TTh-
Inverse Kinematics
Ch 4
Existence and Redundancy
Algebraic/Geometric/Closed form solution
6)
TTh-
Inverse Kinematics
Ch 4
Examples-Puma and Motoman
Standard Frames, Repeatability, Accuracy
7)
TTh-
Velocity and Force Analysis
Ch 5
Differential Motion
Linear and Rotational Velocities-Jacobian
8)
TTh-
Velocity and Force Analysis
EXAM 1 March 1, 2016
Graduate Student Presentations
9)
TTh-
Static Forces
Ch 5
Jacobians and Forces
Static Forces/Transformation
Ch 3
10)
TTh-
Manipulator Dynamics Ch 6
Dynamic Analysis
Acceleration/Velocity/Position
11)
TTh-
Dynamic Formulations Ch 6
Newton-Euler/Lagrangian Formulation
Dynamic Equations and Simulation
12)
TTh-
Trajectory Planning
Ch 7
Joint Space Trajectory Planning
Polynomials and Via Points
13)
TTh-
Manipulator Design
Ch 8
Kinematic Considerations
Actuation and sensing
14)
TTh-
Linear Control
Position Control
Disturbance Rejection
Ch 9
15)
TTh-
Nonlinear Control
MIMO Systems
Force Control
Ch 10
Ch 11
Final Exam / Student Special Project May 4-8
Thursday, May 5 12:00 pm-2:00* *see University
Policy
Ch 5
Grading
ME418
Homework/Lab 30%
Test 1
30%
Presentation
Final Exam
40%
Project
ME518
25%
25%
10%
25%
15%
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