EE 5325/4315- Robotics

HOME PAGE

 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.

Second section:

o        Computed Torque Control

o       Example programming sequence of CRS Robot

o        Programming Robots: p1, p2, p3, p4, p5, p6.

o        Path plan in General,

o        Path planning Mobile Robots,

o        Splines, Splines-code.

o      Splines functions.

o        Kinematics Mobile Robots

o        Control Simulation of Mobile Robots

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).

o      Sheets for exam #2.

o        Petri Nets material

 

o      Robotics Toolbox.

o      ODE23 Spline function.

 

This course is in the EE SYSTEMS AND CONTROLS sequence

This page is maintained by Josť Mireles Jr. jmireles@arri.uta.edu, 817-272-5967.


 

Some files are PDF and so require Adobe Acrobat for viewing. Download the Acrobat Reader free from www.adobe.com/acrobat

Coursework, homeworks, and projects require MATLAB. Get information and demos from www.mathworks.com