Introduction to Robotics

MAE 4345 Undergraduate Level Course

Department of Mechanical and Aerospace Engineering
University Of Texas at Arlington

Instructor: P. S. Shiakolas, Ph.D.
Office: Woolf Hall 315D
Phone: (817) 272-5715
Email: shiakolas@uta.edu
Web Page: http://mars.uta.edu/mae4345
Office Hours: By appointment.
Prerequisites: Senior standing or consent of instructor
Text: Introduction to Robotics: Mechanics and Control Third (Preferred) or Second edition by John J. Craig

(You may need to hold the SHIFT key while clicking to download the file(s).)

MARS Lab and TA Hours

The course TA is Mr. Vijay Sarathy email vxg6269@exchange.uta.edu.

He will be in the MARS lab daily from 12:00 noon - 3:00 pm to assist with your projects and provide access to the robots. Should you need to contact him, email him directly. If his hours change, I will inform you or will be posted on this web page.

Note that he will be in the lab many more hours but he will be working on his own research, so please be considerate.

NOTES/ANNOUNCEMENTS TO CLASS FOR FALL 2007

Print the two articles on Accuracy and Repeatability and Robotic Calibration (found on this web page and bring them with you in class in mid-October

• Class Syllabus and Grading Policy for Fall 2007
• Safety Policy
• Americans with Disabilities Act/Academic Dishonesty Policy
• The Top 10 Robotics Application Mistakes (from November Issue of Robotics World Magazine)
• AML 3.3 Software and AML 3.3 Manual (This is intended for use by the students in the MARS Lab who are given proper instructions and anyone else is using it at their own risk.
• Pre-Post Multiplication of Frames Example - Print and Bring to Class Sept. 18, 2007

Homework (Homework followed by Fall 2007 is valid to work on it, otherwsise DO NOT work on it!)
• Homework 2 (Fall 2007 Due Sept. 20, 2007)
• Homework 3 (Fall 2006 Due Oct. 19, 2006)
• Homework 4 (Fall 2003 Due Oct. 14, 2004)
• Homework 5
• Homework 6
• Project Description in Adobe PDF (Project followed by Fall 2007 is valid to work on it otherwise DO NOT work on it!)
• Project 1

  Part A: Programming the IBM 7535 SCARA Robot (Fall 2007 - Due October 11, 2007)

  Part B: (Print the file above) (Fall 2007 - Due October 11, 2007)

  The proximity sensor is currently interfaced and working with the robot controller). You need to read and undertand how to use the commands WAITI and TESTI. The DI singal for the proximity sensor is 3.

  The conveyor will be emulated by having the parts presented at a predefined location and then activate the sensor to 'fool' the robot into thinking that there is a conveyor (see the class discussion). You are to pick a number of parts and place them in a squarematrix with a 100 mm side.

  Note: I have put a short guide on how to start AML and interface with the robot by the robot computer.

  Note: The command PMOVE(X_coord, Y_Coord, Roll) does not work with the version of AML available

  Instead use the following: Define a new point with coordinates: PT1: NEW POINT(X_coord, Y_Coord, Roll)

  Then in your programs move to the desired point: PMOVE(PT1);

• Project 2

  Forward and inverse Kinematics Analysis of an Industrial Robot - Due November 14, 2006 (Fall 2006)

  The robot to be analyzed is the Adept Viper S650 6-dof articulated robot. The robot is in the MARS lab and will be demonstrated to you so that you can have a better understanding and visualize its operation. More information about the robot could be found at the Adept Technologies Inc. web page - http://www.adept.com

  Perform the Forward Kinematics Analysis - Assign Frames, Generate the MDH table, find the individual homogeneous transforms and find the T-6-0 transform (you could use software tools for the transform calculations.

  Perform the Inverse Kinematics Analysis utilizing the developed T-6-0 transform and assuming that there is a known given/desired position and orientation for the last frame. The entries of the known T-6-0 should be assumed to be variables similar to the paper discussed in class.

  Develop and document a software program which will find the joint values given the desired T-6-0. The program will be verified in the lab since the robot controller/teach pendant has the capability to display among other information the World/Joint coordinates.

• Project - Real World Application of Compound Transformation / Transform Graph Equation (Fall 2003 Due Oct. 4, 2003)
• Project 3 (Fall 2004, Due Nov. 30, 2004) - Real World Application on Experimentation with GMF S-110 Industrial Robot
• Project 4 - Real World Application on Experimentation with GMF S-110 Industrial Robot and Understanding of Station Frame Concept
• How to run the GMF S-110 robot.(Adobe PDF)
• Software for Robotics Analysis
• Robotics Toolbox under Matlab robotsim7.zip
• Quick Introduction to Robotics Toolbox
• Forward Kinematics Using Symbolic Toolbox of MATLAB mfkinesym.zip
• Symbolic Robotics Toolbox under Matlab robsymbolic.zip
• Robotic Analysis Using Object Oriented Techniques robotoop.zip
• Simulation of Non-Linear Systems (MATLAB Template) nonlinear.m
• Robotic Calibration Issues: Accuracy, Repeatability and Calibration
• Accuracy and Repeatability Accuracy Repeatability and Degree of Influence of Kinematic Parameters for Industrial Robots
• Optimum Robot Design Based on Task Specifications using Evolutionary Techniques ... (published in International Journal of Inverse Problems in Engineering, 2002, Vol. 10, No. 4, pp. 359-375) Optimum Robot Design using DE paper
• Matlab Files for Forward Kinematics
  • Instructions
  • Homogenous Transformation
  • Forward Kinematics

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