Robotics - INDE 7397

Description: This course presents detailed discussion on robots and robotics systems with the emphasis of their applications in automated manufacturing systems. An overview of robotics in practice is provided and other topics such as motion planning and control, kinematics, inverse kinematics, sensors and vision systems are also presented. Other discussions include design and analysis of robot systems that use computers for control and operation of manipulators and solution of relational problems critical to robots and its operations.

Textbook: Robotics: Control, Sensing, Vision and Intelligence, by K.S. Fu, R.C. Gonzalez, and C.S.G. Lee, McGraw Hill, 1987.

Goal: To introduce concept of robotics and supporting mathematical models with the emphasis on its application for the control of automated manufacturing cells.

Course Contents:

1. Automation and manufacturing systems
2. Components of an Industrial robot
3. Robot arm kinematics and dynamics
4. Laplace Transformations and Analysis
5. End of arm tooling
6. Planning of manipulator trajectories
7. Control of robot manipulator
8. Servo motors
9. Sensors and Low/High level vision
10. Robot programming language
11. Robot application programming
12. Robotic cell design
13. Robot intelligence and task planning
14. Selected Topics

Required Hardware

ABB 1400 5-axis articulated robots

Grading

Homework

Two Exams

Final Team Project