| | Standard Course Syllabus | Course Supervisor | Date of Approval |
| | Dept. of Electrical and Computer Engineering | Orin | 5/05 |
| | 763 | Introduction to Real-Time Robotics Systems |
| | 2. | CATALOG DESCRIPTION |
| | Components of a Robot System, types, electronic system components, and analog-digital conversion; error analysis; |
| | hardware and software. |
| | Quarters of Offering | Credits | | Level | Class Meeting |
| | Au Qtr (odd years). | 3 | U G | 3 cl. |
| | Course Prerequisites |
| | Prereq: 265, 352, 323; or grad standing. |
| | 3. | PREREQUISITES BY TOPIC |
| | Laplace transform and its use in linear system analysis, C programming, microprocessor systems, basic electronics, state |
| | equations, basic kinematics, basic control system principles. |
| | Courses that require this as a direct prerequisite |
| | 862, 866 |
| | 4. | Text(s) and Other Course Materials | Author(s) | Publisher |
| | Introduction to Robotics: Mechanics & Control, 3rd Ed. | J. Craig | Prentice-Hall |
| | ISBN: 0-201-54361-3 |
| | References (supplemental reading) |
| | [1] "Modeling and Control of Robot Manipulators," L. Sciavicco and B. Siciliano, McGraw-Hill. |
| | 5. | COURSE OBJECTIVES |
| | 1. Provide students an introduction to real-time robotics systems. (Criterion 3(a)) |
| | 2. Students will learn to analyze and design robot manipulators. This includes a study in hardware components -- the basic |
| | sensors, actuators, and support electronics -- as well as the kinematics and servo controller for real-time operation. |
| | (Criterion 3(a)) |
| | 3. Students will work in teams to develop a graphical simulation of a robotic system using a high-level language and graphics |
| | package. (Criterion 3(k)) |
| | 6. | TOPICS AND (# OF LECTURES) |
| | Overview of robotics systems and their programming (4) |
| | Homogeneous transformations (5) |
| | Direct kinematics (2) |
| | Inverse kinematics (2) |
| | Actuators and their modeling and drive (7) |
| | Simulation and control of joint actuator systems (6) |
| | Position and velocity sensing (4) |
| | 7. | CLASS MEETING PATTERN | (For example, "3cl." means 3 48-min classes per week.) |
| | 3 cl. |
| | Thursday, August 14, 2008 09:21 AM |
| | Page 1 of 2 |