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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.

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ME 106 Mechatronics, ME 130 Applied Engineering Analysis with C- or better in each

Pedagogical Approach

Both lecture and lab experiments, flipping, active and cooperative learning, clickers.

Learning Outcomes

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.

Assessment

Survey; compare two group students' performance

Other Information

None

Course Resources

  • ME 192 Robotics and Manufacturing Systems
    Virtual and Remote Industrial Robot Laboratory Winncy Du San Jose State University Course Name & Description: ME192... More