ME 5960/6960 Section 4 Introduction to Robot Control Spring 2007

Course Information

Instructor: John Hollerbach
Office hours: TH 12:30-2pm (MEB 2196)
Email: jmhATcs.utah.edu
Phone: 585-6978
Classes: MEB 2325, TH 2:00-3:20pm
Course web page: http://www.cs.utah.edu/~jmh/me5960

This course is one of the three core courses required of students in the robotics track.

Prerequisites

Prereq: CS 6310/ME 6220 Introduction to Robotics.

Content

Control of serial manipulators is examined. Topics include control system fundamentals, sensors and actuators, joint level control, centralized control, and operational space control. Projects provide hands on experience controlling a serial link manipulator.

Readings

Required Text

Modelling and Control of Robot Manipulators, 2nd Ed., by Sciavicco and Siciliano, Prentice-Hall, ISBN 1-85233-221-2.

Supplementary Texts

Control System Engineering, 4th Ed. by Norman S. Nise, 2004. John Wiley, ISBN: 0-471-44577-0.

Introduction to Robotics: Mechanics and Control, by J.W. Craig, Addison-Wesley, ISBN: 0-201-09528-9.

Grading

The grade will be based on homework assignments (40%); projects (20%); a midterm (15%); and a final exam (25%). Exams are open book.

Programming assignments using Matlab and Simulink will be a regular part of the homework assignments. Homework will be due in one week and must be turned in at the start of class. Programming problems will be submitted electronically using CADE's handin facility, and will be due at midnight of the due date. Late homework will lose 10% per day up to 3 days late; thereafter, a grade of 0 will be assigned. Weekends count as 1 day.

If you are uncertain about homework questions it is your responsibility to contact the instructor or TA for clarification. Misinterpretation of assignments will not be accepted as an excuse.

A series of projects will involve experiments on either a single degree-of-freedom robot or a multi-jointed robot.

Student Code

You are encouraged to discuss techniques and issues with other students; however, all solutions turned in must be your own work. Any common work turned in, whether given or received, will result in a failing grade for the course.

Add/drop/withdrawal/appeal procedures for the College of Engineering are posted here.