MAE 242

ROBOTICS

course code 16340


Time:
T, Th 6:30-8:00pm
 

Room:

CS 253
 

Instructor:

J. M. McCarthy, EG 4203 (824-6893)

 

Required Texts:

  • McCarthy, J. M., Introduction to Theoretical Kinematics, MIT Press, 1990.
  • Craig, J. J., Introduction to Robotics, 2nd ed., Addison-Wesley, 1986.

 

Reference Texts:
  • Crane and Duffy, Kinematic Analysis of Robot Manipulators.
  • Hunt, Kinematic Geometry of Mechanisms.
  • Bottema and Roth, Theoretical Kinematics.
  • Tsai, L.W., Analysis of Robots Manipulators

 

Goal:
This class presents the geometric analysis of articulated mechanical systems. The emphasis is on developing the kinematics equations for serial open chains, solving the inverse kinematics problem to determine the joint parameters to achieve a desired position, and understanding the use of the Jacobian of the system for rate control, static analysis and to determine singular configurations. This mathematical theory lies at the foundation for the analysis, design, and control of robotic systems.
 

Course Outline:

1.

Jan. 11, 13

Overview, Planar Kinematics Equations

2.

Jan. 18, 20

Coordinate Screw Displacements, Rotation Matrices

3.

Jan. 25, 27

Screw Axes, Lines, and the Denavit-Hartenberg Convention

4.

Feb. 1, 3

Kinematics Equations, Inverse Kinematics

5.

Feb. 8, 10

3R Wrist, Example Robots

6.

Feb. 22, 24

Piepers Solution

7.

Feb. 29, Mar. 2

Velocities, Recursive Formulation

8

Mar. 7, 9

Jacobian, Screw Jacobian

9.

Mar. 14, 16

Principle of Virtual Work, Static Analysis

10.

Mar. 21, 23

Singular Configurations

March 28, 2000

Take Home Final Exam Due.