EML 5808
Control Technologies for Robotic Systems
Florida International
University, Mechanical and Materials Engineering Department
Fall, 2017
Syllabus
INSTRUCTOR: Dr. Wei-Yu Bao,
room: EC 3234, phone: 305.348.6863, email: baow@fiu.edu,
web:
http://web.eng.fiu.edu/~wbao, office hours: 12:30 1:30 PM on Mondays and
Fridays
CLASSROOM: Section U01: EC 1115; Section U02: EC
3239
SCHEDULE: Section U01: 11:00 AM 12:15 PM on Tuesdays and
Thursdays, class#: 83201 and 82968
Section U02: 3:00 3:50 PM on Mondays and 2:00 3:50 PM on Fridays,
class#: 84149
TEXTBOOKS: Kinematics, Dynamics, and Design of
Machinery, 2E, by Kenneth J. Waldron, Gary L. Kinzel, John Wiley & Sons
Inc., 2004, ISBN-10: 0417244171 / ISBN-13: 9780471244172
Introduction
to Robotics: Mechanics and Control, 3E, by John J. Craig, Addison-Wesley Publishing
Company, Inc., 2004, ISBN-10: 0201543613 / ISBN-13: 9780201543612
OBJECTIVES: To introduce
the fundamentals of mechanism and robotics which include kinematic analysis,
simulation, and control of mechanisms and manipulators for mechanical
engineering designs
TENTATIVE LECTURE CONTENTS:
1. Introduction
to mechanism and robotics
2. Concepts of mechanism, DOF, connectivity, and mobility
3. Position,
velocity, and acceleration analysis of mechanism
4. Analytical analysis of planar linkages
Exam 1
5. Spatial
descriptions and transformations
6. Manipulator
kinematics, Inverse
7. Jacobians, velocities and static forces
8. Manipulator dynamics
Exam 2
9. Mechanism
design and simulation
10. Control
of robotic systems
Final Project Presentation
GRADING POLICIES:
Homework and Projects: 30%,
All homework and project assignments have to be submitted on time. Late
homework and projects will have 20% per day penalty. If an electronic copies of
homework or project is required, email it to eml4806@comcast.net with a file name of EML4806_Homework # (or
Project #) _Your Name.
Quizzes: 6%, Pop-up quizzes will be given in the
class without previous announcement, open books and notes. There is no make-up
quiz.
Exams: 48%, Two exams will be given in the
class, open books and notes. Makeup exam will be given only under unusual
circumstances. A written request for a makeup exam must be provided.
Final Project: 16%, The final
project will be presented in class.
Grade A = 95.0 100 C+
= 76.7 79.9
A- = 90.0 94.9 C
= 73.3 76.6
B+ = 86.7 89.9 C-
= 70.0 73.2
B = 83.3 86.6 D
= 60.0 69.9
B- = 80.0 83.2 F
= below 60.0
ME Program Educational
Objectives:
|
Broad and in-depth knowledge of engineering science and principles in
the major fields of Mechanical Engineering for effective engineering
practice, professional growth, and as a base for life-long learning. |
|
Hands-on experience with available instruments and lab techniques to
bridge classroom learning and practical, real-life problems. |
|
The ability to utilize analytical and experimental methods and modern
computer technology for decision-making and engineering design and to solve
realistic engineering problems. |
|
The ability to work effectively with others in a team while
simultaneously maintaining independent and creative thought. |
|
The ability to communicate effectively and to articulate technical
matters using verbal, written, and graphic techniques. |
|
An adequate background to pursue graduate studies in engineering and
other fields. |
|
A sense of professional and social responsibility, including a
commitment to protect both occupational and public health and safety,
developed through consideration of moral, social, and ethical paradigms
related to the engineering profession and practice. |
ME Program Outcomes:
|
A. Ability to apply knowledge of mathematics including statistics,
multivariable calculus and differential equations, science including physics,
and engineering. |
|
C. Ability to design a
system, component, or process to meet desired needs. E. Ability to identify, formulate,
and solve engineering problems. F. Understanding of
professional and ethical responsibility. |
|
G. Ability to communicate effectively. |
|
I. Recognition of the need for,
and an ability to engage in life-long learning. |
|
K. Ability to use the techniques, skills and modern engineering tools
necessary for engineering practice. |