EE 5325/4315- Robotics
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.)
o Kinematics posted
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 Example programming sequence of CRS Robot
o General mathematics used to find minima: Quadratic functions, Steepest-Newton-Conjugate (from Hagan-Demuth-Beale). These techniques can be used in Optimal Control and Neural Networks (reduction of costs-time-effort), Robotics (path planning).
This course is in the EE SYSTEMS AND CONTROLS sequence
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Coursework, homeworks, and projects require MATLAB. Get information and demos from www.mathworks.com