Department of Mechanical Engineering
MECH 544/444 Robotics
This course will introduce the fundamental concepts of modeling, control, sensing, and intelligence of robotic systems. The course will have two parts: a) robotic manipulators and b) mobile robots. In part (a), we will discuss forward and inverse kinematics, trajectory planning, dynamics, control, and programming of robotic manipulators. In part (b), we will study hardware components of mobile robots, visual and navigational sensors, pose estimation, navigation, and reasoning in mobile robots. Students will get hands-on experience by working with robotic arms and mobile robots in a laboratory environment.
Text: Introduction to Robotics (primary text)
John J. CRAIG , 3nd Edition, Prentice Hall
Computational Principles of Mobile Robotics
Gregory DUDEK Micheal JENKIN, Cambridge
Lectures: Monday 11.30-12.45
Exams: One mid-term and one final exam will be given. The exams will be closed-book. One sheet (letter size, double-sided) notes/formulas will be permitted in the exams.
Final Exam TBA
Projects: There will be three projects in the course. In the first project, students will model the forward and inverse kinematics of a robotic manipulator. In the second project, they will develop a path planning algorithm in MATLAB to calculate and simulate the collision-free path of a robotic arm. In the third project, students will develop a PID controller such that a robotic arm follows a predefined trajectory.
Project -I 15.0 %
Project –II 15.0 %
Project –III 15.0 %
MT Exam 22.5 %
Final 22.5 %
Hws 10.0 %
Integrity: Academic honesty is expected of all students.
Discussions between students are highly encouraged, but copying a homework or a code
from others is strickly prohibited and will result in the failure in the course.