1. Basic Course Information
Instructor:
Dr. Carl Crane
MAE-B 326
(352) 392-9461
(352) 291-6433 (cell)
carl.crane@gmail.com
Class Meeting Time:
M, W, F 2nd period
8:30 - 9:20
NEB 102
Textbook:
Kinematic Analysis of Robot Manipulators, C.
Crane, J. Duffy, Cambridge University Press
Hardcopy, 1998, ISBN 0-521-57063-8
Paperback, 2007, ISBN 0-521-04793-7
Additonal References (optional):
Analysis of Mechanisms and Robot Manipulators, J. Duffy, John Wiley Publishers, 1980.
Robot Manipulators, R. Paul, MIT Press, 1986.
Introduction to Robotics, J. Craig, Addison Wesley, 1989.
Robot Analysis, The Mechanics of Serial and Parallel Manipulators, L. Tsai, Interscience,
1999.
Vector and Tensor Analysis, L. Brand, John Wiley, 1947.
2. Course Objective and Outcomes
Every student will obtain a thorough understanding of the forward and reverse kinematic position analysis of a spatial serial robot
manipulator.
Topics that will be covered to meet this objective:
Chapter 1 Introduction
Chapter 2 Coordinate Transformations
Chapter 3 Manipulator Kinematics
Chapter 4 Forward Kinematic Analysis
Chapter 5 Reverse Kinematic Analysis Program Statement
Chapter 6 Spherical Closed Loop Mechanisms
Chapter 7 Displacement Analysis of Group 1 Spatial Mechanisms
Chapter 8 Displacement Analysis of Group 2 Spatial Mechanisms
Chapter 9 Displacement Analysis of Group 3 Spatial Mechanisms
Chapter 10 Displacement Analysis of Group 4 Spatial Mechanisms
Chapter 11 Case Studies
Chapter 12 Quaternions
3. Course Assessment
Grading:
Quiz 1 (Chap 2, 3)
Quiz 2 (Chap 4, 5, 6, 7)
Final Exam
30%
30%
30%
Homework
10%
Exams will be open book and open notes.
Homework will normally be assigned on Friday and will be due the next Friday. Most homework assignments will require writing a
computer program. Any of the following computer languages may be used: C/C++, Matlab. The computer programming assignments
will build upon each other. In other words, you will need to have the nth program working in order to write the (n+1)th program.
4. Other Information
Late homework will not be accepted.
All assignments are to be done individually. Any copied assignments or programs will result in an E grade for the course.