ECE 309 (4330, 7330) ROBOTIC CONTROL AND INTELLIGENCE Fall, 2004

Instructors: Professor Bob McLaren, Room 325 EBW; mclarenr@missouri.edu

and Professor Marge Skubic, Room 221 EBW; skubicm@missouri.edu

Prerequisites: ECE 206 (4310) or acceptable introduction to feedback control or

instructor’s consent

Textbook: Introduction to Robotics Analysis, Systems, ands Applications, S. B.

Niku, Prentice-Hall, 2001.

Consultation: Arrange for an appointment for a specific time with the instructor

after the class lecture; office hours will be available

References: Fundamentals of Robotics: Analysis and Control, R. J. Schilling,

Prentice-Hall, 1990. Introduction to Robotics; Mechanics and

Control, J. J. Craig, Prentice-Hall, 2005

Outline of Lecture Topics and Hour Exam Schedule

I. Introduction, Historical Perspectives, and Course Objectives

II. Robots as Mechanisms; Matrix Representations

III. Transformation Matrices; Inverse Transformations

IV. Forward and Inverse Kinematics ; Arm Equation

V. Joint and Link Parameters

VI. Denavit-Hartenberg (D-H) Representation; Examples

VII. The Inverse Kinematic Solution

VIII. Inverse Kinematic Programming of Robots; Examples

HOUR EXAM I: Friday, September 24, 2004

IX. Differential Motion and Dynamic Relationships

X. Jacobian Matrix

XI. Differential Motion of a Robot and the Tool Frame

XII. Inverse Jacobian Matrix

XIII. Examples

XIV. Dynamic Analysis and Forces; Lagrangian Dynamics

XV. Dynamic Equations

XVI. Static Force Analysis

XVII. Transformations of Forces and Moments

XVIII. Paths and Trajectories

XIX. Joint Space and Cartesian Space Descriptions

XX. Trajectory Planning: Joint Space and Cartesian Space Trajectories

HOUR EXAM II: Friday, October 29, 2004

XXI. Electrical Actuators

XXII. Sensors: Applications in Robotics

XXIII. Image Processing and Analysis

XXIV. Computer Vision Applications in Robotics

XXV. Robot Control: the Robot Equation

XXVI. State Equation Representation; Stability

XXVII. Mobile Robots: Structure and Missions

XXVIII. Imbedded Microcontrollers; Control Strategies, Sensors and Actuators for

Mobile Robots

HOUR EXAM III: Wednesday, December 8, 2004.

Laboratory: ECE 309 includes a 1 credit hour laboratory (Rm 320 EBW). Laboratory equipment includes two types of robots, two types of conveyor belts, PLC’s, Industrial Control Trainers, electric actuators, vision equipment, and mobile robots.

The experiments will cover: Motor Control, Sensor Feedback Control, Control of Conveyor Belts, Introduction to Robot Parameters and Motion, Direct Kinematics, Pick and Place Operations, Trajectory Control, Work Cell Design and Operation, Vision Applications, and Introduction to Mobile Robots