University of Dayton
Dept. Electrical and Computer Engineering
ECE 416 Introduction to Robotics – Fall 2011
Instructor:
Prof. Raúl Ordóñez, KL341-E, raul.ordonez@notes.udayton.edu.
Temesgen (Tem) Messay-Kebede, messayte@notes.udayton.edu
Office Hours: You can come almost any time I am there, but try to make an appointment if not during
office hours: M, W 4:30 to 5:30 p.m.
Text book:
Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Wiley, 1st
edition, 2005.
Course Objective: This course is an introduction to the field of robotics, with a focus on industrial
manipulators. The class will cover direct and inverse kinematics, robot jacobian and
trajectory generation. In addition, the class will cover a selection of advanced topics, such
as robotic vision, visual servoing, and robotic control. Students will perform extensive
simulations in MATLAB and MotoSim, and will work on several hands-on projects in the
Motoman Robotics Laboratory, located in KL232.
Prerequisites: A linear signals and systems class (ECE303).
Outline of topics
1. Introduction and terminology
a. Lab safety
b. Lab tour, robot specs
c. Lab procedures
2. Homogeneous transformations
a. Definitions
b. Use of MATLAB: visualization of transforms
3. Introduction to Motoman robots
a. MotoSim
b. Pendant, MATLAB (Motoman SDK)
4. Direct kinematics
a. Example: YS-540
b. Example: HP3
5. Inverse kinematics
a. Example: YS-540
b. Example: HP3
6. Jacobian, velocity kinematics
7. Trajectory generation
a. Artificial potentials
8. Link control (time permitting)
a. PD control
9. Robot dynamics (time permitting)
10.Visual servoing (time permitting)
Grading:
(Tentative)
Homework
Computer and laboratory projects
Midterm exam
Final exam
Course web site: http://isidore.udayton.edu/
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