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ECSE 6410 Robotics and Automation (Spring 2007)

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

Prerequisites: ECSE--6400 System Analysis Techniques required. ECSE.4490 Fundamental of Robotics helpful.

Course objectives: 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.

Grade Composition:

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

Homework, project, and exams may require the use of MATLAB, Simulink, Control System Toolbox, and LMI Toolbox.   Collaboration on homework and project is encouraged, but collaboration (including discussion) on take home exams is absolutely forbidden.

Each student is required to do a course project. The project report should be handed in by Monday 5/7.

Exam Dates: Both midterm and final are take home exams. Midterm exam will be handed out on Thursday, 3/12, and collected on Thursday, 3/19.  Final exam will be handed out on Thursday, 4/26, and collected on Thursday, 5/3.

Additional References (on reserve in Library)
 R.M. Murray, Z. Li, S.S. Sastry, A Mathematical Introduction to Robotic Manipulation
J. AngelesFundamentals of Robotic Mechanical Systems
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

 Course Outline (Total number of classes: 28)
Rigid-body kinematics and dynamics
Kinematics based control, path planning, trajectory generation
Multi-body kinematics and dynamics

Closed kinematic chains,  parallel robots, and mobile robots
Dynamic control
Force control