Derivation of kinematic equations and inverse kinematic
solutions for robotic manipulators; general models for robot
arm dynamics and dynamic coefficients for multiple degrees of
freedom robot arms with parallel and serial structures; and
control of single- and multiple-link manipulators and how to
design simple feedback control laws.
Additional Requirements for Graduate Students: Graduate students will be required to perform more advanced
projects which include, but are not limited to, robot
manipulator model identification using actuators and sensors
data, and further using the models for control design to
achieve tracking and disturbance rejection.
Athena Title
Robotic Manipulators
Graduate Prerequisite
MCHE 3300 or MCHE 3300E
Semester Course Offered
Offered every year.
Grading System
A - F (Traditional)
Student learning Outcomes
By the end of this course, students will understand the theoretical foundation for the modeling, simulation, analysis, and control of robotic manipulators.
By the end of this course, students will learn the multidisciplinary principles of Robotics, including kinematics, dynamics, robot programming and control, and practical applications of the robotic manipulators in different engineering and medical disciplines.
By the end of this course, students will be able to use the concepts, techniques, and technologies to solve problems related to robot manipulators and their structures.
By the end of this course, students will be able to build simple prototypes, derive the kinematic and dynamic equations, and design simple feedback control of robotic platforms which possess specific desired functionalities.
Topical Outline
• Introduction and overview of robotics
• Current development and needs of robot manipulators and mobile robots
• Geometry of mechanical manipulators
• Spatial description and transformation
• Kinematics and inverse kinematics
• Use of Jacobian to find velocities and static forces
• Dynamics of mechanical manipulators
• Introduction to rigid body dynamics
• What is trajectory generation and the steps involved?
• Introduction to feedback control
• Force control and position control of robot manipulators
Experiments and labs:
• Kinematics in robotic arms
