Office: Jobst 136

Office Hours: 1:00-to 3:00    Tuesday and Thursday or by Appointment

Office T elephone: 677-2720

Home Telephone: (217)787-3294

Prerequisites: EE 328, ME 341, ME 344 or equivalent

Text: "Introduction to Robotics" by P.J. McKerrow Addison-Wesley 1991

Course De scription: Robotics is an amalgam of many engineering disciplines. ME 562 is designed as a core course in robotic engineering covering the essential fundamentals of kinematics, dynamics, control, sensors and computer considerations.

Course Objectives:

To appreciate the interdisciplinary nature of Robotics.

To be able to integrate analitical models of a robot with vision and force sensing.

To experience the entire engineering education paradigm of u nderstanding fundamentals, computer simulation, emphirical verification and a real world problem.

To understand the contribution of robotics in industrial competitiveness.

To be able to describe and analyze the major mechanical components of a robot.

To be able to describe and analyze the major electrical components of a robot.

To be able to perform both a forward and inverse kinematic analysis for simple and complex robots.

To be able to calculate the effect of differential motions and forces using the Jacobian techniques.

To be able to perform a dynamic analysis of elementary robot configurations.

To be able to perform a control system analysis of PID robot controllers and to be able to understand more complex c ontrol algorithms.

To be able to perform a robotic design project.

Lec. Date Topic< /U> Reading Homework

1 1/23/97 Textbook Reconnaissance

Introduction, Course Objectives, PLAN TRIPS

2 1/27/97 Robotics Chapter 1 1.1E, 1.3E, 1.4E

3 1/30/97 Components & Subsystems Chapter 2 2.9E, 2.11E

4 2/4/97 Object Location Chapter 3

5 2/6/97 Object Location Chapter 3 3.2E, 3.7E, 3.8E

6 2/11/97 Vision Fundamentals

7 2/13/97 Vision Software Manuals Calibration

8 2/18/97 No Class-Boeing

9 2/20/97 V ision Lab-Application Manuals

10 2/25/97 Object Location Chapter 3 3.18E

11 3/4/97 Kinematics Chapter 4 4.1E, 4.2E, 4.3E

12 3/6/97 Kinematics Chapter 4 4.8E, 4.9E, 4.12E

13 3/11/97 Kinematics Chap ter 4 4.17E

14 2/27/97 Kinematics Labortory Verification-Staubli

15 3/13/97 Exam 1

SPRING BREAK MARCH 15-23, 1997

16 3/17/97 Behind the Scenes Tour at Disneyworld

17 3/18/97 Technical Tour at Disneyworld

18 3/19/97 Robotics at the Kennedy Space Center Tour

19 3/25/97 Return Exam

20 3/25/97 Motion Chapter 5 5.1E, 5.2E, 5.4E

20 3/27/97 Motion Chapter 5 5.9E, 5.14E

21 4/1/97 Motion Laboratory Verification

2 2 4/3/97 Motion Laboratory Verification

23 4/8/97 Statics Chapter 6 6.1E, 6.2E, 6.3E

24 4/10/97 Statics Chapter 6 6.12E, 6.13E, 6.14E

25 4/15/97 Exam2

26 4/17/97 Dynamics Chapter 7

27 4/22/97 Dynamics Chapter 7 7.1 E, 7.2E

28 4/24/97 Control Chapter 11

29 4/29/97 Controls Chapter 11

30 5/1/97 Controls Chapter 11

FINAL EXAM MAY 13, 1997 NOON TO 2PM

Grading: 40% exams, 25% final, 15% Homework& Pr ojects, 15% Teacher Eval