ME 425/625 Robotics

Department of Mechanical Engineering

University of Nevada Las Vegas

  • Instructor: Prof. Woosoon Yim (x5 0956, wy@me.unlv.edu)
  • Text: Introduction to Robotics, John J. Craig, Addison-Wesley Publishing Co.
  • MW 4:00-5:15 PM     TBE B-174
  • Grading: 2 Midterm (40%) Final (30%) Project & HW (30%)
  • Homework solution is available on http://www.me.unlv.edu/~wy/meg425/ and all homework is due on the first day of class in each week.

·         Course prerequisites: MEG320, MAT 429 Co-requisite: MEG421 or consent of instructor

Course objectives

ME 425/625 deals with the followings:

·         To introduce students the science and engineering of mechanical manipulators

·         To introduce kinematics, dynamics, and control problems of robotic manipulators

·         To introduce feedback controller of robot manipulators including PID and Nonlinear controllers.

·         To introduce various trajectories or motion generation schemes in robotics

By the end of this course, students should be able to

·         Understand the science and engineering behind the motions generated by robot manipulators

·         Design the basic feedback position controller for robot manipulator

·         Simulate the robot system using Matlab and Simulink (kinematics, dynamics, controller)

·         Deal with common control and dynamic problems in robot manipulators

 

 

DATE

TOPIC

COMMENT

CHAPTER

M

8/27

Introduction

 

1

W

8/29

Spatial description and transformation

 

2

M

9/3

Labor Day Recess

 

 

W

9/5

Composite transformation

 

2

M

9/ 10

Manipulator Kinematics

 

3

W

9/12

 

 

 

M

9/17

Inverse Kinematics

 

4

W

9/19

Differential kinematics

 

4

M

9/24

Manipulator Jacobian

 

5

W

9/26

 

 

 

M

10/1

EXAM I

 

 

W

10/3

Force transformation

 

5

M

10/8

Manipulator Dynamics

 

6

W

10/10

 

 

 

M

10/15

Simulation of manipulator dynamics

 

 

W

10/17

 

 

 

M

10/22

Trajectory generation

 

7

W

10/24

 

 

 

M

10/29

Control system (Linear)

 

9

W

10/31

 

 

 

M

11/5

Control system (Nonlinear)

 

 

W

11/7

Actuator & sensors

 

 

M

11/12

Veteran’s Day Recess

 

 

W

11/14

Position control problems

 

9

M

11/19

 

 

 

W

11/21

EXAM II

 

 

 

 

Thanksgiving Days

 

 

M

11/26

Force control problems

 

11

W

11/28

 

 

 

M

12/3

Project discussion

 

 

W

12/5

Review

 

 

 

Final Exam Dec 10 6:00 PM ME 425 final