Syllabus

Course Description & Objectives

Introduction to computer-controlled robotic manipulators. Topics include coordinate frames and transformations, forward and inverse kinematic solutions to open and closed chain manipulators, kinematic structure and solutions, statics and dynamics of serial and parallel chain manipulators, control and programming, the Jacobian, introduction to motion and path planning, introduction to teleoperation, robot design, and actuation and sensing devices.  In addition, special topics will be introduced such as computer vision, mobile agents, MEMS and microrobotics, surgical robotics, teleoperation, and biomimetic systems.

Laboratory exercises provide experience with industrial robot programming and robot simulation and control.  Graduate students must enroll in 259; I will not allow graduate students to take 159.  The material is the same as 159, but with a final project and additional problems on the problem sets. 

Prerequisites

• Applied Mathematics 21a,b or Mathematics 21a,b or Mathematics 23a,b; Physics 11a or 15a.
• ES 125 or ES 145 or ES 156.
• Calculus through 2nd order linear differential equations with constant coefficients.
• Eigenvalues and eigenvectors of matrices.
• Applied Mathematics 105a and 105b (preferred)

Required Textbook

Robot Modeling and Control.  M. Spong, S. Hutchinson, and M. Vidyasagar. Wiley.  ISBN: 0471649902

Additional References

• A Mathematical Introduction to Robotic Manipulation.  Murray, R. 1994
  
• Introduction to Robotics: Mechanics and Control.  Craig, J. 2003
  
• Kinematic Analysis of Robot Manipulators. Crane, C.

Grading

Homework:

• Homework is mandatory in order to pass the course.

• Homework will be assigned approximately every other week.  They will be due two weeks after they are assigned.

• Matlab/Simulink may be required for some problems.

• No late homework can be accepted since the solutions will be distributed the day homework is collected. The solutions will also be posted on the course website.

• A homework list will be posted and updated on the course website.

• Please use the cover sheet posted on the course website.

Laboratory:

There will be a substantial lab component to this course.  We have a new 6DOF robotic arm that is controlled through a Matlab interface.  The labs will require you to program the motion of the arm to do specific tasks.  Each lab will have a pre-lab component that will require you to write a Matlab script corresponding to the desired task.  You will then implement this task during the lab time.  You will be graded based upon a lab write-up in which you will detail your findings.  Please use the lab template on the course website. The lab dates will be announced in class.  All labs will occur in Maxwell Dworkin B129.

Please note the following:

·        Attendance in all labs and submittal of a report for each lab is mandatory. 

·        Labs will be performed in groups and reports are to be submitted by each group.

·        Each group is required to submit a report two weeks after the experiment is performed. The following grade penalty applies for late reports: One week late, 10%; two weeks late, 30%; Three weeks late, 50%. Reports that are late for more than three weeks will not be accepted. 

·        Switching lab group is allowed only under extraordinary circumstances and only by the instructor’s or the TF’s consent.

·        No make-up labs will be given, unless the instructor has agreed before the scheduled lab. 

·        The lab reports are expected to be written using the report template.

Exams:

There will be no midterms, but there will be a comprehensive final exam.

Projects:

The final project can involve any aspect of robotics, however students are encouraged to build off the material that is presented in class.  Projects can involve hardware or software (or both), and the end results should incorporate a demonstration.  I would be more than happy to suggest appropriate projects and you will be able to use the machine shop, the lab arm, and all the resources of the Harvard Microrobotics Lab.  The project can be done in teams or by individuals, depending upon the scope and nature of the project.  At the end of the semester we will have presentations from all groups.