ECE Course Outline

ECE4560

Introduction to Automation and Robotics (3-3-4)

Prerequisites
ECE 3085/3550
Corequisites
None
Catalog Description
Concurrent engineering principles; robotic manipulator kinematics, dynamics and control; applications of robots in industry, medicine and other areas; team projects and hands-on laboratory experience.
Textbook(s)
Craig, Introduction to Robotics, Mechanics and Control (3rd edition), Prentice Hall, 2003. ISBN 9780201543612 (required)

Topical Outline
* Designing for Automation and Concurrent Engineering Principles (2 weeks)
- Hard vs. Flexible Automation
- Basis Concepts in Concurrent Engineering
- Team Projects
* Anatomy of a Robot (1 week)
- Classification of Robots
- Robot Configurations
- Robot Components
- Performance Characteristics
* Object Location (1 week)
- Cartesian Coordinates
- Joint Coordinates
- Coordinate Transformations
* Manipulator Kinematics (2 weeks)
- Direct and Inverse Kinematics
- Solving the Arm Equation
- Examples
* Differential Motion (1 week)
- The Manipulator Jacobian
* Manipulator Dynamics (2 weeks)
- Lagrange-Euler Equations
- Other Formulations
- Software Tools and Examples
* Task Planning (1 week)
- Workspace Analysis
- Trajectory Planning
* Robot Control (2 weeks)
- Position/Torque Control
- Advanced Control Methods
* Sensors and Sensing Strategies (1 week)
- Vision, force/torque and proximity sensors
* Applications (1 week)
* Intelligent Robotic Systems (1 week)
- Autonomous Robots