ECE 470 - Introduction to Robotics

Semesters Offered

TitleRubricSectionCRNTypeHoursTimesDaysLocationInstructor
Introduction to RoboticsAE482AB165307LAB00900 - 1050 T  3071 ECE Building 
Introduction to RoboticsAE482AB265308LAB00900 - 1050 R  3071 ECE Building 
Introduction to RoboticsAE482AB365309LAB01400 - 1550 T  3071 ECE Building 
Introduction to RoboticsAE482AB465310LAB01400 - 1550 R  3071 ECE Building 
Introduction to RoboticsAE482AB565311LAB00900 - 1050 M  3071 ECE Building 
Introduction to RoboticsAE482AB668178LAB01600 - 1750 T  3071 ECE Building 
Introduction to RoboticsAE482AB768181LAB01600 - 1750 R  3071 ECE Building 
Introduction to RoboticsAE482AL65306LEC41230 - 1350 T R  1015 ECE Building  Timothy Bretl
Introduction to RoboticsECE470AB165294LAB00900 - 1050 T  3071 ECE Building 
Introduction to RoboticsECE470AB265295LAB00900 - 1050 R  3071 ECE Building 
Introduction to RoboticsECE470AB365296LAB01400 - 1550 T  3071 ECE Building 
Introduction to RoboticsECE470AB465297LAB01400 - 1550 R  3071 ECE Building 
Introduction to RoboticsECE470AB565298LAB00900 - 1050 M  3071 ECE Building 
Introduction to RoboticsECE470AB668176LAB01600 - 1750 T  3071 ECE Building 
Introduction to RoboticsECE470AB768179LAB01600 - 1750 R  3071 ECE Building 
Introduction to RoboticsECE470AL65293LEC41230 - 1350 T R  1015 ECE Building  Timothy Bretl
Introduction to RoboticsME445AB165301LAB00900 - 1050 T  3071 ECE Building 
Introduction to RoboticsME445AB265302LAB00900 - 1050 R  3071 ECE Building 
Introduction to RoboticsME445AB365303LAB01400 - 1550 T  3071 ECE Building 
Introduction to RoboticsME445AB465304LAB01400 - 1550 R  3071 ECE Building 
Introduction to RoboticsME445AB565305LAB00900 - 1050 M  3071 ECE Building 
Introduction to RoboticsME445AB668177LAB01600 - 1750 T  3071 ECE Building 
Introduction to RoboticsME445AB768180LAB01600 - 1750 R  3071 ECE Building 
Introduction to RoboticsME445AL65300LEC41230 - 1350 T R  1015 ECE Building  Timothy Bretl

Official Description

Fundamentals of robotics including rigid motions; homogeneous transformations; forward and inverse kinematics; velocity kinematics; motion planning; trajectory generation; sensing, vision; control. Course Information: Same as AE 482 and ME 445. 4 undergraduate hours. 4 graduate hours. Prerequisite: One of MATH 225, MATH 286, MATH 415, MATH 418.

Subject Area

Robotics, Vision, and Artificial Intelligence

Course Director

Description

Fundamentals of robotics, rigid motions, homogeneous transformations, forward and inverse kinematics, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control.

Notes

Same as GE/ME 470 and CS 443.

Topics

  • Introduction: Historical development of robots; basic terminology and structure; robots in automated manufacturing
  • Rigid Motions and Homogeneous Transformation: Rotations and their composition; Euler angles; roll-pitch-yaw; homogeneous transformations; Matlab and Mathematica code for symbolic and numerical computation
  • Forward Kinematics: Common robot configurations; Denavit-Hartenberg convention; A-matrices; T-matrices; examples
  • Inverse kinematics: Planar mechanisms; geometric approaches; spherical wrist
  • Velocity kinematics: Angular velocity and acceleration; The Jacobian; singular configurations; singular values; pseudoinverse; manipulability
  • Motion planning: Configuration space; artificial potential fields; randomized methods; collision detection
  • Trajectory generation: Joint space interpolation; polynomial splines; trapezoidal velocity profiles; minimum time trajectories
  • Feedback control: Actuators and sensors; transfer functions; tracking and disturbance rejection; PID control; feed forward control; resolved motion rate control
  • Vision-based control: The geometry of image formation; feature extraction; feature tracking; the image Jacobian; visual servo control Advanced Topics (one or more of the following depending on the instructor): Lagrangian dynamics; parallel robots; mobile robots; force sensing and force control; machine learning; advanced topics in vision; student projects; other

Detailed Description and Outline

Topics:

  • Introduction: Historical development of robots; basic terminology and structure; robots in automated manufacturing
  • Rigid Motions and Homogeneous Transformation: Rotations and their composition; Euler angles; roll-pitch-yaw; homogeneous transformations; Matlab and Mathematica code for symbolic and numerical computation
  • Forward Kinematics: Common robot configurations; Denavit-Hartenberg convention; A-matrices; T-matrices; examples
  • Inverse kinematics: Planar mechanisms; geometric approaches; spherical wrist
  • Velocity kinematics: Angular velocity and acceleration; The Jacobian; singular configurations; singular values; pseudoinverse; manipulability
  • Motion planning: Configuration space; artificial potential fields; randomized methods; collision detection
  • Computer vision: imaging geometry, simple scene segmentation, image moments
  • Vision-based control: The geometry of image formation; feature extraction; feature tracking; the image Jacobian; visual servo control Advanced Topics (one or more of the following depending on the instructor): Lagrangian dynamics; parallel robots; mobile robots; force sensing and force control; machine learning; advanced topics in vision; student projects; other

Same as GE/ME 470 and CS 443.

Lab Projects

Teach pendant programming; off-line programming; workcell generation; computer/robot interfacing; kinematics; symbolic math packages for robot kinematics; inverse kinematics; camera calibration; feature detection and tracking; vision-based manipulation

Texts

Spong, Hutchinson, and Vidyasagar, Robot Dynamics and Control, New York: John Wiley, 2005.

Course Goals

This course serves as a technical elective for computer engineering and electrical engineering majors. The goal of this course is to introduce students to the basic concepts in robotics that (a) provide prerequisite knowledge for follow-on courses, and (b) provide essential knowledge of the field that would be required by a practicing engineer who must deal with automation. This course includes a significant laboratory component.

Instructional Objectives

By the time of the first examination:

  1. The historical development of robots (h)
  2. Basic terminology and structure (j)
  3. Robots in automated manufacturing (h)
  4. Rotation matrices and their composition (a, m)
  5. Euler angles (a, m)
  6. Roll-pitch-yaw angles (a, m)
  7. Angular velocity and acceleration (a, m, n)
  8. Homogeneous transformations (a, m, n)
  9. Common robot configurations (a)
  10. The Denavit-Hartenberg convention (a, m)
  11. A-matrices (a, m)
  12. T-matrices (a, m)
  13. Forward kinematics of open kinematic chains (a, m)
  14. Inverse Kinematics of planar mechanisms (a, m)
  15. Geometric approaches to inverse kinematics (a, m)
  16. Inverse kinematics of the spherical wrist (a, m)
  17. The manipulator Jacobian matrix (a, m, n)

By the time of the 2nd exam:

  1. Singular configurations (a, m, n)
  2. Manipulability (a, m, n)
  3. Singular values (a, m, n)
  4. Pseudoinverse of the Jacobian and its use (a, m, n)
  5. Computer vision in automation (h, j)
  6. Perspective geometry, pin-hole lens approximation (a, m)
  7. Stereo vision by triangulation (a, m)
  8. 2D discrete convolution (a, m, n)
  9. Histograms (a, l, m)
  10. Threshold selection (a, l, m)
  11. Moments (a)

Last updated

3/9/2016by Seth Hutchinson