Brian Gonzalez web site courses

Office Hours: Talk to me after class or email me in order to set up an appointment.

Textbook:

• Brad Nelson, Introduction to robotics, First Edition, Conestoga, USA, 1994.
• M.W. Spong, S. Hutchinson, M. Vidyasar, Robot modeling and control, First Edition, John Wiley and Sons, USA, 1996.

Course Objectives: The course will provide the basics on analysis and design of robotic manipulators, whether mobile or articulated types. The basic methods and theory for modelling and simulation are introduced, then the student will gain experience in solving practical robotics problems related.

Topical Outline:
1. Introduction, definitions and robotics concepts
2. Components of a robot
3. Components of a robotic arm, sensors and basic controls
4. Kinematics of a robot
5. Modeling and simulation of a robotic manipulator
6. Linear control of a servo in robotics
7. Mobile robots and principles
8. Modeling and basics of mobile robots
9. Mobile robot kinematics and simulation
10. Design and implementation of a mobile robot

Grading (tentative):
Presentations: 10%
Lab reports: 30%
Projects: 40%
Partial examination: 10%
Participation and work groups: 10%

Prerequisites:
Modeling and simulation of linear systems
Automatic Control
Matlab programming experience

Scheduling: This course is offered in autumn period, further organization with all students will set up the final scheduling.

Downloadable material:

• Introduction Slides for week 34.
• Slides and homework for week 35. Extra slides for TD_Rob-1.
• Slides and homework for week 36.
• Slides for week 37, and analysis and simulation work for that week.
• Slides for week 38, Paper for that week.
• Slides for week 39, also the lab for that week.
• Slides for week 40. Paper for that week.
• Slides for week 41, also the lab for that week
• Slides for week 42, activity for that week and the program for cubic trajectory