EE 5325/4315- Robotics

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 Revised: Wednesday, Nov. 27 2002

Principles of kinematics, dynamics, and control of industrial robots. Inverse kinematics, velocities, and forces. Path planning and trajectory generation. Robotic Workcell Command and Control. Mobile robot planning, navigation, and control. Position and force control of robots.

Prerequisite EE 4314 or consent of instructor. (3 credit hours.)

 

Instructor: Josť Mireles Jr., Dept. of Electrical Engineering and Automation and Robotics Research Inst.

 

o    COURSE POLICY

o    COURSE OUTLINE AND NOTES

o    HOMEWORK AND EXAMS

o    Kinematics posted

o    Denavit Hartenberg: one, two

o    Forward & Inverse Kinematics.This is an example showing forward and inverse kinematics equations in LabVIEW to perform a Master-Slave configuration of an ADEPT (master) and PUMA (slave) robots: User interface, diag-1, diag-2, diag-3.

o    Dynamics, singularities

o    Review + Two-Link arm

o    Mathematica help on dynamics

o    Sheets for exam #1.

o    Computed Torque Control

o    o       Example programming sequence of CRS Robot