EE 548 - Fall 2017

EE 548: Manipulator‐based Robotics

Instructor: Kevin Wedeward (Workman 221, 835-5708, kevin.wedeward@nmt.edu, https://sites.google.com/nmt.edu/kevin-wedeward/)

Syllabus/Webpage: https://sites.google.com/nmt.edu/kevin-wedeward/courses/ee-548-fall-2017

Time and Place: TR 0930-1045 in Workman Center 117

Office Hours: MW 0930-1130

Description: EE 548 is intended for advanced engineering students interested in the fundamentals of robotics including kinematics, dynamics, motion planning and control. The focus will be analysis of open-chain manipulators (robotic arms).

Textbook: Robotics: Modelling, Planning and Control (free access to pdf and inexpensive softcover edition via NMT computer) by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani and Giuseppe Oriolo; Springer-Verlag; 2009; ISBN: 978-1-84628-641-4

Textbooks for Reference:

• Robot Modeling and Control by Mark W. Spong, Seth Hutchinson and M. Vidyasagar; John Wiley and Sons; 2005; ISBN: 978-0-471-64990-8; author's website and errata
• Introduction to Robotics: Mechanics and Control, 3/E by John J. Craig; Prentice Hall; 2005; ISBN: 9780201543612
• Robotics, Vision and Control: Fundamental Algorithms in MATLAB (free access to pdf and inexpensive softcover edition via NMT computer) by Peter Corke; Springer-Verlag; 2011; ISBN: 978-3-642-20143-1
• Springer Handbook of Robotics (free access to pdf via NMT computer) by Editors Bruno Siciliano and Oussama Khatib; Springer-Verlag; 2008; ISBN: 978-3-540-23957-4

Grading:

• Homework - 30%
• Projects - 30%
• Exams (2) - 40%

Links and Resources:

• Antenen Robotics - Supplier of used industrial robots. Their inventory includes a wide variety of robots.
• International Federation of Robotics (IFR) - Non-profit organization that serves as global resource for data on robotics.
• Using Matlab to plot trajectories via different approaches.
• Youtube video of NMT's A255 robot performing a pick-and-place demonstration.