ME 192 Robotics and Manufacturing Systems
Scientific and engineering principles of industrial (serial) robots/manipulators. Homogenous transformation, robot kinematics, statics, dynamics, Jacobin, trajectories, control and programming. Lab experiments to support the lectures, verify the theories taught, and provide the students with hands-on robot operation, control (both computer and manual), and programming experiences and skills. Robot design, sensing (especially machine vision system), actuation, and applications. Other types of robots and applications.
Both lecture and lab experiments, flipping, active and cooperative learning, clickers.
Upon successful completion of the course, the students will be able to:
-- Know the history and types of industrial robots and their applications
-- Distinguish various robots’ configurations (Cartesian, SCARA, Articulated, Cylindrical, Spherical, and Parallel) and their workspace
-- Describe a homogenous transformation matrix and its meaning for a robot joint · -- Perform joint-to-joint transformations to find the end-effector’s position and orientation
--Mathematically express the kinematics and dynamics of a robot
-- Calculate the force or torque required at each joint in order for a robot to move with the desired velocity and acceleration
--Find the Jacobian of a robot
-- Understand and describe a robot’s workspace and singularity
-- Derive robot dynamics equation using both Newton-Euler’s law and Lagrangian methods
-- Describe the dynamic equation of a robot in a state-space form
-- Control an industrial robot both manually or automatically (through a computer program)
-- Design a robot’s trajectory with the desired velocity, acceleration, and via points
-- Write a code using Matlab, ACE, and V+ programming tools to control and simulate an industry robot
-- Know how to use a virtual lab to control robots.
Survey; compare two group students' performance