MEE 444 - Robot Dynamics and Control

Review of geometries of robots, Cartesian, cylindrical, spherical, revolute, tensor and snake like robotic manipulators, robot drive systems, resolution, accuracy and repeatability, robotic laboratory set up, some existing computer based industrial robots, areas for robot applications, comparative cost of automation by robots and some robotics statistics. Review of kinematics design of robots, Denavit-Hartenberg transformation of position and orientation, Euler angles representations, roll, pitch and yaw, homogeneous transformations, D-H representations, kinematic equations for manipulators, end effector specifications, kinematics equations for Stanford, PUMA and Rhino XR-2 manipulators, solving kinematics equations by direct and inverse methods, singular and degenerate solutions, and kinematics characteristics of work space. Dynamics, design and control of robotic manipulators, position and speed control of robots, Newton-Euler dynamic modeling, Lagrarian dynamic modeling, Bond-graph dynamic modeling, dynamic equations for some manipulators, recursive equations of motion, computational algorithms, robotic control theories, steady state servo control for manipulators, error controlled systems, some structural design considerations, voltage-torque conversion, open and closed loop control systems, feed back control of positional vibrations of manipulators and static and dynamic forces in robots.

Prerequisites
MEE 270 and MEE 380

Credits: 3