MECHENG 7752
Transcript Abbreviation:
Mech Contrl Robots
Course Description:
Introduction to the mechanical and mathematical principles of robotics including kinematics, rigid body dynamics, control theory, motion planning, sensors and actuators, legged locomotion and manipulation.
Course Levels:
Graduate (5000-8000 level)
Designation:
Elective
General Education Course:
(N/A)
Cross-Listings:
(N/A)
Credit Hours (Minimum if “Range”selected):
3.00
Max Credit Hours:
3.00
Select if Repeatable:
Off
Maximum Repeatable Credits:
(N/A)
Total Completions Allowed:
(N/A)
Allow Multiple Enrollments in Term:
No
Course Length:
14 weeks (autumn or spring)
12 weeks (summer only)
Off Campus:
Never
Campus Location:
Columbus
Instruction Modes:
In Person (75-100% campus; 0-24% online)
Prerequisites and Co-requisites:
Prereq: 2030 (430), Math 2174, 2415 (415), 4568 (568), 571, or equiv, or Grad standing in Engineering.
Electronically Enforced:
No
Exclusions:
Not open to students with credit for 752.
Course Goals / Objectives:
Be able to model, understand, and analyze the kinematics, dynamics, and control of robots
Given a task, pick robot morphology and design a control system to perform the required task
Through project presentations and special topics, become familiar with the state of the art in applied robotics
Be able to use MATLAB (or other programming environment) in the modeling and analysis of robots and other dynamical systems
Check if concurrence sought:
No
Contact Hours:
| Topic | LEC | REC out-of-class | REC in-class | Weekly LAB out-of-class | Weekly LAB in-class |
|---|---|---|---|---|---|
| Introduction to robots and robot applications | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Position and orientation representation, coordinate frames, rotation matrices, homogeneous transforms, Euler angles, etc. | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Forward manipulator kinematics: Denavit-Hartenberg representation, range of motion | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Inverse kinematics, numerical solution of nonlinear equations, kinematic path tracking, trajectory generation. | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Manipulator mechanism design | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Rigid body dynamics: Newton-Euler and Lagrangian formulations | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Linear position and trajectory control, force control, nonlinear control | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Sensors and actuators | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Collisions, friction, and other mechanics modeling issues | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Bipedal robot locomotion and other special topics. | 0.0 | 0.0 | 0 | 0.0 | 0 |
| Total | 0 | 0 | 0 | 0 | 0 |
Grading Plan:
Letter Grade
Course Components:
Recitation
Lecture
Grade Roster Component:
Lecture
Credit by Exam (EM):
No
Grades Breakdown:
| Aspect | Percent |
|---|---|
| Homework, including both analytical and extensive computational exercises using MATLAB. | 40% |
| Mid-term exam | 20% |
| Course-project presentation | 15% |
| Final exam | 25% |
Representative Textbooks and Other Course Materials:
| Title | Author | Year |
|---|---|---|
| Introduction to Robotics: Mechanics and Control | John J. Craig | |
| Robot Modeling and Control | M. Spong, M. Vidyasagar, J. Hutchinson |
ABET-CAC Criterion 3 Outcomes:
(N/A)
ABET-ETAC Criterion 3 Outcomes:
(N/A)
ABET-EAC Criterion 3 Outcomes:
(N/A)
Embedded Literacies Info: