EMTR - 2017  

Robotics and Automation I

Instructor:  Dr. Wilson Wang, CB-4057, 766-7174

Email:  Wilson.Wang@Lakeheadu.ca

Webpage:  http://wwang3.lakeheadu.ca/emtr2017.htm

Lectures: 2:30-4:00PM, Tuesday, AT-2004

11:30AM-1:00PM, Thursday, RB-1021

Teaching Assistant: Amel ABI <aabi@lakeheaduc>, Melika Afshari <mafshari@lakehead.ca> 

Office Hours:  3:00-4:00PM, Wednesday & Friday, or by appoitment

Textbook:     

  1. Robot Modeling and Control, M. Spong, S. Hutchinson, M. Vidyasagar,2nd Edition, John Wiley & Sons, 2020.

  2. Teaching materials

Objective:

This course introduces the fundamental theories of robot manipulator modeling and control, as well as their applications in automation. The topics covered in this course include: structures of robot manipulators, rotational transformation, motions of rigid manipulators, forward kinematics, velocity kinematics, inverse kinematics, trajectory planning, independent joint modeling and control using PID controllers.

Student Learner Outcomes

Grading Policy:

Assignments: 15%;

Labs: 20%;

Midterm Exam: 25;  

Final Exam: 40%

   

Week Topics Readings Notes
1 Introduction

1.1-1.3

  
2 Rotation representation; Rotation transformations

2.1-2.2
3 Rotation composition and parameterization

2.3-2.5

 Assignment 1
4 Euler angles; Rigid motion; Kinamatic chains

2.5-2.7; 3.1
Solution 1
5 DH conversion; Forward kinamatics examples

3.2-3.3

 Assignment 2
6 DH conversion for manipulators; Velocity kinematics

3.3-3.4 ; 4.1-4.2

 Solution 2

Assignment 3
7 Reading week

 

  
8 Skew-symmetric matrices
Midterm Exam

4.2

 Solution 3
9 Jacobian for angular and linear velocities

4.3-4.6

 Assignment 4
10 Inverse kinamatics

5.1-5.3

  
11 Inverse orientatios; Singularities

5.4; 4.9

  
12 Independent joint control

 8.1-8.5

  
13  Control of robots; State space design

8.5-8.9