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Apr 23, 2024
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EE 4290 - Mechanics and Control of Robotic Manipulators
Classification and applications for mechanical manipulator systems. Manipulator motion description, forward kinematics transformations, and solution of inverse kinematics equations. Velocity kinematics and manipulator dynamics equations. Trajectory generation and control schemes including sensory feedback. Laboratory exercises to augment lecture material.
Requisites: Sr only
Credit Hours: 3
Repeat/Retake Information: May be retaken two times excluding withdrawals, but only last course taken counts.
Lecture/Lab Hours: 3.0 lecture
Grades: Eligible Grades: A-F,WP,WF,WN,FN,AU,I
Learning Outcomes: - Students will be able to calculate the mobility (number of degrees-of-freedom) of planar and spatial structures, mechanisms, and serial and parallel robots.
- Students will be able to use the mathematical basis of motion description, including rotation matrices.
- Students will be able to derive the standard Denavit-Hartenberg parameters for planar and spatial serial robot chains.
- Students will be able to derive and calculate the forward pose kinematics solution for serial robots.
- Students will be able to derive and calculate the inverse pose kinematics solution for serial robots.
- Students will be able to derive and calculate forward and inverse velocity kinematics for serial robots, including Jacobians, static forces/torques, singularities, and simulation of resolved rate control.
- Students will be able to derive and calculate joint-space trajectory generation polynomials.
- Students will be able to perform kinematic calculations for example kinematically-redundant serial robots, including simulation of resolved rate control.
- Students will be able to perform kinematic calculations for example parallel robots.
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