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BENE-4113_Industrial_Robotics

Topics covered are: 
Mechanics and control of mechanical manipulator, 
coordinate mapping and transformation, forward kinematics, inverse 
manipulator kinematics, manipulator dynamics, trajectory generation, 
linear and nonlinear robot control system.  

LEARNING OUTCOMES 
By the end of this subject, students are expected to be able to: 
1. illustrate the anatomy of industrial manipulator and solve the manipulator coordinate mapping and   transformation. [PO1 , C3] 
2. analyze kinematics parameters of industrial manipulator and solve its forward kinematics. [PO1, C4] 
3. analyze and solve the inverse kinematics of industrial manipulator. [PO1, C4] 
4. analyze robot’s dynamics which include develop model and solving of simple joint velocities, forces and torques. [PO3, C5] 
5. sketch manipulator motion trajectory and simple manipulator control scheme based on classical techniques. [PO2, P4] 
6. synthesize course knowledge into an effective course assignment and present technical findings both orally and in writing.  [PO5, PO7, PO10, A4] 
REFERENCE 
[1] J.J. Craig, Introduction to Robotics: Mechanics and Control, 3rd Ed., Upper Saddle River, NJ, Pearson Prentice Hall, 2005. 
[2] R.K. Mittal, I.J. Nagrath, Robotics and Control, New Delhi, Tata McGraw-Hill, 2003. 
[3] K.S. Fu, R.C. Gonzales, C.S.G. Lee,  Robotics: Control, Sensing, Vision and Intelligence. McGraw-Hill, 1988 
  1. Teaching Plan
  2. Note
  3. Lab
  4. Assigment 

Test 2 after mid semester - topic cover inverse kinematic, Trajectory







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