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ECSE 4480/ECSE 6966/MANE 4960/CSCI 4480 Roboics I (Fall 2011)


Text: No required text for this course. I’ll handle out copies of papers and sections from various books throughout the semester. 

Supplements:
* J. Angeles, Fundamentals of Robotic Mechanical Systems (ebook available from the RPI library)
* R.M. Murray, S.S. Sastry, Z. Li, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994 (this is a more advanced book, but contains lots of good materials, especially on parallel robots, grasping, and nonholonomic systems). pdf download here.
* J.J. Craig, Inroduction to Robotics: Mechanics and Control, 3rd Edition, Prentice Hall, 2004.

Prerequisites: ECSE 2410 (Signals and Systems) or equivalent.

Course website (RPI LMS): TBD

Course Objective: This course covers the tools and methods for the kinematics and dynamics analysis and control design for robots, including articulated manipulators, platform type of manipulators, and mobile vehicles. The classes of robots that will be considered include open chain manipulators, closed chain manipulators such as multifingered hands, parallel robots, and nonholonomic systems such as wheeled robots. The emphasis will be placed on developing a systematic understanding of the basic principles in the analysis, control, and planning of robotic systems.

Learning Outcomes: Students who complete this course satisfactorily will be able to: (i) describe rigid body kinematics and dynamics and apply it to rigid body motion control (ii) describe the kinematics and dynamics of open-chain serial manipulator and apply it to the end effector control of the manipulator (iii) describe the kinematics and dynamcis of closed chain manipulators and parallel manipulators, and apply it to the control of the end effector motion and contact force (iv) describe the kinematics of a mobile robot and use it for robot navigation.

Grade Composition:

Homework
15%
Midterm
30%
Final Exam
35%
Project
20%

Homework: Homework will account for 15% of the course grade.  Problems will be assigned roughly each week. The problems are best done individually in a professional manner (neatness counts!).  Problems will be generally be graded on a 10 point scale and will be returned in class approximately one week after they were due.  Collaboration in the solution of the homework problems is permitted and is strongly encouraged if it enhances the learning process, but mere copying of the solution is not allowed.  In general, no late assignments will be accepted.  However, extensions may be granted if a situation arises for which it is warranted.  In these instances the student must request the extension in writing prior to the assignment due date, stating the reason for the request and the date the assignment is to be submitted.

Project: Project will account for 20% of the course grade. Up to two persons may collaborate on a project, but both must sign a statement describing the respective contribution. The project report is due at the end of the semester.

Homework and project may require the use of MATLAB and associated toolboxes.  

Exam: Midterm exam will be held on 10/19. The final exam will be held during the final exam period. All exams will be open book, open notes, but no Internet access.

Statement of Academic Integrity
Student-teacher relationships are built on trust. The students must trust that the instructor has made appropriate decisions about the structure, content, etc., of the courses they teach, and the instructors must trust that assignments which students turn in are their own. Acts which violate this trust undermine the education process.
The Rensselaer Handbook defines various forms of Academic Dishonesty and procedures for dealing with them. All forms are violations of the trust between the students and instructors. All students should familiarize themselves with this portion of the Rensselaer Handbook and should note that the penalties for the various forms of dishonesty can be quite harsh. Cheating will result in a zero on the associated assignment, and referral to the Dean of Students for possible additional action.
All cell phones are to be turned off during exams. Cell phone usage including texting of any kind during and exam will be considered cheating, and will result in a zero for the exam.

Additional References
M. Spong, M. Vidyasagar& Robot Dynamics and Control
K.S. Fu, R.C. Gonzalez, C.S.G. Lee& Robotics: Control, Sensing, Vision and Intelligence
Y. Nakamura, Advanced Robotics: Redundancy and Optimization
T. Yoshikawa, Foundations of Robotics: Analysis and Control
H. Asada, J.-J.E. Slotine, Robot Analysis and Control
M.T. Mason, Mechanics of robotic manipulation
J.-C. Latombe, Robot Motion Planning
S. LaValle, Planning and Algorithms
MATLAB robotics toolbox (free) http://www.petercorke.com/Robotics_Toolbox.html

Course Coverage (Total number of classes: 28)
Rigid-body kinematics

Kinematics of articulated chain
Differential kinematics, Jacobian, and singularity analysis
Kinematics based control, path planning, trajectory generation
Closed kinematic chains,  parallel robots, and mobile robots
Rigid body dynamics

Dynamic control
Force control

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