EE
543 - Models of Robotic Manipulation
Course
Description: Mathematical models of arbitrary articulated
robotic or biological arms and their application to realistic
arms and tasks, including the homogeneous coordinate model of
positioning tasks, the forward and inverse kinematic models, the
Jacobian Matrix, and the recursive Newton-Euler dynamic model.
Educational
Goal: To achieve a working knowledge of the primary mathematical
models used for the analysis, design, and programming of serial
kinematic chains (robot arms).
Specific
Objectives:
- Derive an orthonormal matrix which properly specifies the orientation
of an object given a series of rotations.
- Compute the forward kinematic model, and the jacobian matrix
for any serial manipulator.
- Solve the inverse kinematics problem for 'solvable' manipulators
up to six degrees of freedom.
- Define all terms of the manipulator dynamic equations and compute
them for small manipulators.
- Compute a motion trajectory between two points which meets specified
boundary conditions.
Prerequisite: linear algebra and graduate
standing or permission of instructor.
Offered: Winter Quarter, most years.
Text:
"Introduction to Robotics: Mechanics and Control," 2nd
Edition, by John Craig. Addison-Wesley, 1989.
Course
Web Site:
Winter
1995 - Instructor: Blake Hannaford
Winter
1996 - Instructor: Blake Hannaford
Winter
1999 - Instructor: Blake Hannaford
Winter
2000 - Instructor : Glenn Klute
Winter
2001 - Instructor: Jacob Rosen
Winter
2003 - Instructor: Blake Hannaford
EE544
- Advanced Robotic Manipulation
Course
Description:Laboratory
projects in robotics. Lectures will continue the analysis of robot
manipulation considering several topics in advanced robotic manipulation
such as kinematic redundancy, control of robot manipulators in
contact with the environment, teleoperation, and biological movement
control. Students will perform a project in small teams, report
on the projects to the class, and present a critical review of
a research topic.
Prerequisites
: EE543, "Models of Robot Manipulation". Or
permission of instructor.
Grading
Text : Tsuneo Yoshikawa: "Foundations of
Robotics." This book will be a valuable reference for your
future use. However, we will only use if for about 20% of the
course content. Course notes and reader from the instructor. Will
be available from a local copy center
Course
Web Site:
Spring
1996 - Instructor: Blake Hannaford
Spring
2003 - Instructor: Blake Hannaford
EE/AA
- 449 Control Systems Design
Goal:
The goal of this course is to solidify and advance theoretical
control analysis and design ideas from previous courses by applying
them to real systems in the laboratory and to work as a team to
solve challenging control design problems. A major project will
be designing a controller to balance an inverted pendulum mounted
on a cart.
Learning Objectives:
The student who successfully completes EE449 will obtain:
Improved Dynamical Systems Analysis Skills.
Understanding of Time-Domain Control systems Analysis Specifications.
An understanding of actuator saturation and its effects.
Proficiency in ...
Numerical Simulation: Actual System, Linearized System, Closed
Loop System, Actual System with controller.
Continuous to Discrete Time Model / Controller Conversion.
Lead/Lag Compensator (controller) Design with an emphasis on time
domain / Root locus techniques.
Analog and Digital Realization of LL, PID Controllers.
Feedback Linearization
Experience and understanding of team project work.
Course
Web Site:
2002
Instructor: Blake Hannaford
EE498:
Consumer Electronics Design Education Project
A
multi-disciplinary laboratory course introducing undergraduate
engineers to product design, reverse engineering, product dissection,
cost modeling, analysis, and mechatronics.
Course
Web Site:
1999
- 2001 Instructor: Blake Hannaford
EE589:
Haptic Enabled Systems
Haptic
enabled systems are teleoperation or virtual reality systems which
support the sense of touch and allow users to manipulate and palpate
remote or virtual objects and environments. Applications of haptics
include medical simulators, computer aided design systems (CAD),
and games. The course will provide an introduction to the multidisciplinary
field of haptic interfaces. Key ideas will be the scientific and
technological factors which limit or enhance the user experience
of haptic enabled systems.
Course
Web Site:
Winter 2007 Instructor: Ganesh Sankaranarayanan
Winter 2005 Instructor: Blake Hannaford
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