ME 456 - Industrial Robotic Applications - Fall 2001
Faculty:
Lecture:
Text:
Grading:
H.J. Sommer, 128 Reber, 865-1345, hjs1@psu.edu, www.me.psu.edu/sommer/me456
215 Hammond, 3:35-4:25 M W F
Introduction to Robotics, Craig, 2nd ed.
homework=50%, quiz=20%, exam=20%, project=10%
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Aug 22
Aug 24
Aug 27
Aug 29
Aug 31
Sep 3
Sep 5
Sep 7 - quiz
overview, administration, robot classification
base, geometry, application, actuation, control
workspace, payload, speed, precision , accuracy, wrist motion
3DOF forward kinematics
3DOF inverse kinematics
NO CLASS - LABOR DAY
transfer end-effectors
process end-effectors
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Sep 10
Sep 12
Sep 14
Sep 17
Sep 19
Sep 21
Sep 24
Sep 26
Sep 28 - quiz
actuators
joint sensors
task sensors
joint control
joint coordination
hierarchical control
coordinate transformations
2D transforms
3D transforms
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Oct 1
Oct 3
Oct 5
Oct 8
Oct 10
Oct 12
Oct 15
Oct 17
Oct 19 - quiz
3D transforms
rotation sequences
screw axis
NO CLASS – FALL BREAK
kinematic chains
Denavit-Hartenberg parameters
link-joint parameters
forward kinematics
inverse position kinematics
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Oct 22
Oct 24
Oct 26
Oct 29
Oct 31
Nov 2
Nov 5
Nov 7
Nov 9 - quiz
Newton-Raphson
Jacobians
velocity kinematics
angular velocity
acceleration kinematics
virtual work, static force analysis
dynamics
Lagrangian versus Newton-Euler dynamics
computed torque control
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Nov 12
Nov 14
Nov 16
Nov 19
Nov 21
Nov 23
Nov 26
Nov 28
Nov 30
Dec 3
Dec 5
Dec 7
force control
2D vision
vision systems
vision algorithms
NO CLASS - THANKSGIVING
NO CLASS - THANKSGIVING
3D vision
monocular photogrammetry
stereophotogrammetry, DLT
mobile robots
PROJECT PRESENTATIONS
PROJECT PRESENTATIONS
Course Objectives
After completing ME 456, all students should be able to:
1) choose an industrial manipulator with appropriate kinematic chain, actuator power and end-effector
based on kinematic degrees of freedom (DOF), payload, speed, and precision required for robotic
processes
2) compute forward and inverse position and velocity kinematics of the tool-center-point (TCP) of any
3DOF manipulator including joint interpolated versus straight-line interpolated motion
3) supervise implementation and tuning of PID control systems for robotic joints
4) analyze three-dimensional position and velocity kinematics of any robotic manipulator using Denavit
and Hartenberg (D-H) homogeneous coordinate transformations
5) understand and implement process requirements for simple robotic vision systems
6) communicate well using verbal, written and electronic methods
Course Policy
Attendance at lectures is mandatory.
Homework problems and quizzes are strictly individual assignments. No collaboration is allowed. One
8½ by 11 study sheet is permitted during quizzes.
The take-home final exam is strictly an individual assignment. It is open-book and open-notes. No
collaboration is allowed.
Students should know and understand these course policies in regard to College of Engineering policy on
academic integrity available at http://www.engr.psu.edu/www/ug/acad_int/students/default.htm .
Project Information
The last several weeks of the semester will be devoted to a project utilizing the concepts learned in this
course. Projects should be proposed by individuals or by groups of two people. Project topics are your
choice. Be creative.
Examples of past projects
 Build a passive scale model of an industrial manipulator
 Build a small actuated manipulator
 Program an industrial manipulator for a simple industrial task
 Design a simple robot workcell for a specific industrial task
 Implement a sensor or vision interface for an existing robot
 Analyze kinematics and/or dynamics for a novel manipulator
 Develop software simulation of robot motion and/or control
Go to the library and do some research. Be creative and take some risks.
Schedule
1) Preliminary proposal: This will enable us to give you suggestions and assess the potential success or
failure of your project. One page typed description.
2) Final report: self-explanatory, high quality technical report.
3) Eight minute oral presentation during final exam week.
Academic Integrity - http://www.engr.psu.edu/faculty-staff/academic-integrity.aspx
The University defines academic integrity as the pursuit of scholarly activity in an open, honest and responsible manner. All
students should act with personal integrity, respect other students' dignity, rights and property, and help create and maintain an
environment in which all can succeed through the fruits of their efforts (refer to Senate Policy 49-20. Dishonesty of any kind will
not be tolerated in this course. Dishonesty includes, but is not limited to, cheating, plagiarizing, fabricating information or
citations, facilitating acts of academic dishonesty by others, having unauthorized possession of examinations, submitting work of
another person or work previously used without informing the instructor, or tampering with the academic work of other students.
Students who are found to be dishonest will receive academic sanctions and will be reported to the University's Office of Student
Conduct for possible further disciplinary sanctions (refer to Senate Policy G-9).