MECH564 Syllabus (Spring, 2012)

Week
Lecture TopicReadingHomework 

1

(1/16-1/20)

MLK Day (no class on Mon, 1/16)
  • course introduction (syllabus, grading, policies)
  • robot classification, terminology, overview
  • robotics application examples
Chapter 1
handouts

0: sign up for the
MECH564-L course Listserv

group selection survey sheet
(due Fri, 1/20)

1: 4.1 (no joint limits), 4.9,
class RPR example
using the sweep method
with L1=3, L2=L3=2
(sketch and fully dimension each)
[due Fri, 1/27]

2

(1/23 - 1/27)
  • robot workspace
  • workspace example
  • vector/matrix review
  • reference frames, cartesian location description
  

3

(1/30 - 2/3)
  • homogeneous transformations
  • transformation equations
Chapter 2

2: 2.2, 2.6 (using hint),
2.13 (be sure to label the transformation arrows
on the frame diagram),
2.28 (use a compound transformation equation
to calculate the final transformation)
[due Mon, 2/6]

4

(2/6 - 2/10)
  • forward position analysis
  • Denavit-Hartenberg notation
  • frame attachment procedure
Chapter 3
handout

3: 3.3, 3.4 (also provide the entire
link parameter table),
3.8 (also draw a frame diagram
with all transformation arrows labeled), 3.22
(see also: additional information and requirements)
[due Wed, 2/15]

5

(2/13 - 2/17)
  • forward position analysis example
  • reverse position analysis
    • algebraic solutions
Chapter 4
handouts

4: 4.2 to end-effector point with task point
specification: (px, py, pz), per revised figure;
present complete geometric and
algebraic solutions; draw rough sketches for
all possible configurations for an end-effector
point reachable by all possible solutions;
verify forward and reverse analyses
at [1/2, 1/2, 1] for L1=L2=2, L3=1
[due Wed, 3/7]

6

(2/20 - 2/24)
    • geometric solutions
    • reverse position analysis example
  • Exam I review
  • Project assignment
  • Adept Robot introduction
  

7

(2/27 - 3/2)

 EXAM I (Mon, 2/27)
  • Adept Robot programming
Chapter 12

8

(3/5 - 3/9)
  • take-home exam (EXAM II) assignment
  • Adept Robot programming (continued)
  • class presentation info
  

9

(3/12 - 3/16)

 SPRING BREAK (no class)    

10

(3/19 - 3/23)
  • forward kinematics, Jacobian Matrix
  • inverse kinematics, singularities
  • Adept Robot Vision System
Chapter 5

11

(3/26 - 3/30)
  • redundant manipulators
  • redundant manipulator inverse kinematics
  • discuss and schedule class presentations

12

(4/2 - 4/6)
  • redundant manipulator examples
  • binary vision concepts
Project reviews (Fri, 4/6)		 
5: binary vision homework
[due Mon, 4/16]

13

(4/9 - 4/13)
  • basic image analysis
  • robotics applications (videos)

E-Days (no class on Fri, 4/13)

14

(4/16 - 4/20)
  • robotics applications (videos) - continued
  • image processing basics
EXAM II (due Fri, 4/20 in class)
research 

15

(4/23 - 4/27)
  • class presentations
  
6: presentation (counts as 2 homeworks) 

16

(4/30 - 5/4)
  • Final Exam review
  • class presentations
  • image processing basics (continued)
    
  FINAL EXAM (Tue, 5/8, 9:40-11:40 am, same room)