General
EENG428 Introduction to Robotics
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Course Instructor |
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Prof. Dr. Mustafa K. Uyguroğlu |
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Tel: 0392-6301433 |
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EE 135 |
office hours |
Tuesday 14:30-16:30 Thursday 11:00-12:00 |
Topic outline
- General
- EENG428 Introduction to Robotics
EENG428 Introduction to Robotics
Basic components of robot systems; coordinate frames, homogeneous transformations, kinematics for manipulator, inverse kinematics; manipulator dynamics, Jacobians: velocities and static forces , trajectory planning, Actuators, Sensors, Vision, Fuzzy logic control of manipulator and robotic programming.
At the end of this course, students should be able to:
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Describe and analyze rigid motion.
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Write down manipulator kinematics and operate with the resulting equations
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Solve simple inverse kinematics problems.
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Select sensors for performing robotic tasks
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Solve motion planning problems.
Course Description File 183.6KB PDF document
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- ASSIGNMENTS
ASSIGNMENTS
The homework assignments:
· The first page must be the title page. The title page must contain the name, surname and the number of the student. It should also contain the due date.
· Please also include a table of points for each problem.
· The solution must contain all the necessary steps.
· Remember that you must turn in the homework on the assigned days. Late submissions will not be accepted and graded.
Here is a sample title page. (You may download the .doc file and change the necessary information)
Important Note: You may discuss the homework problems with your friends for exchanging general ideas, but you may not copy from one another. You may also not give any parts of your homework to other students to look at. Any students violating these rules or committing any other acts of academic dishonesty WILL be turned over to the disciplinary committee for disciplinary action.
- Line Following & Obstacle Avoiding ROBOT COMPETITION
- FUNDAMENTALS
FUNDAMENTALS
Introduction. What Is a Robot? Classification of Robots. What Is Robotics? History of Robotics. Advantages and Disadvantages of Robots. Robot Components.Robot Degrees of Freedom. Robot Joints. Robot Coordinates. Robot Reference Frames. Programming Modes. Robot Characteristics. Robot Workspace. Robot Languages. Robot Applications.
- Kinematics of Robots: Position Analysis.This topic
Kinematics of Robots: Position Analysis.
Introduction. Robots as Mechanisms. Conventions. Matrix Representation. Representation of a Point in Space. Representation of a Vector in Space. Representation of a Frame at the Origin of a Fixed Reference Frame. Representation of a Frame Relative to a Fixed Reference Frame. Representation of a Rigid Body. Homogeneous Transformation Matrices. Representation of Transformations. Representation of a Pure Translation. Representation of a Pure Rotation about an Axis. Representation of Combined Transformations. Transformations Relative to the Rotating Frame. Inverse of Transformation Matrices. Forward and Inverse Kinematics of Robots. Forward and Inverse Kinematic Equations: Position. Cartesian (Gantry, Rectangular) Coordinates. Cylindrical Coordinates. Spherical Coordinates. Articulated Coordinates. Forward and Inverse Kinematic Equations: Orientation. Roll, Pitch Yam (RPY) Angles. Euler Angles. Articulated Joints. Forward and Inverse Kinematic Equations: Position and Orientation. Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots. The Inverse Kinematic Solution of Robots.
Difference between D-H classical and modified.
- Differential Motions and Velocities.
Differential Motions and Velocities.
Introduction. Differential Relationships. Jacobian. Differential versus Large-Scale Motions. Differential Motions of a Frame versus a Robot. Differential Motions of a Frame. Differential Translations. Differential Rotations about the Reference Axes. Differential Rotation about a General Axis q. Differential Transformations of a Frame. Interpretation of the Differential Change. Differential Changes between Frames. Differential Motions of a Robot and Its Hand Frame. Calculation of the Jacobian. How to Relate the Jacobian and the Differential Operator. Inverse Jacobian.
- Dynamic Analysis and Forces.
Dynamic Analysis and Forces.
Introduction. Lagrangian Mechanics: A Short Overview. Effective Moments of Inertia. Dynamic Equations for Multiple-DOF Robots. Kinetic Energy. Potential Energy. The Lagrangian. Robot's Equations of Motion. Static Force Analysis of Robots. Transformation of Forces and Moments between Coordinate Frames.
- Trajectory Planning
Trajectory Planning
Introduction. Path versus Trajectory. Joint-Space versus Cartesian-Space Descriptions. Basics of Trajectory Planning. Joint-Space Trajectory Planning. Third-Order Polynomial Trajectory Planning. Fifth-Order Polynomial Trajectory Planning. Linear Segments with Parabolic Blends. Linear Segments with Parabolic Blends and Via Points. Higher-Order Trajectories. Other Trajectories. Cartesian-Space Trajectories. Continuous Trajectory Recording.
- USEFUL TOOLS
- Robot Animation
- Past Exam Questions
Past Exam Questions
- Useful Links
