ME5286CourseNotes01-09 - ROBOTICS COURSE NOTES ©1981,...

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Unformatted text preview: ROBOTICS COURSE NOTES ©1981, 1991, 2001, 2009 Max Donath (Incorporates material from many sources) DEPARTMENT OF MECHANICAL ENGINEERING UNIVERSITY OF MINNESOTA 111 CHURCH ST. S.E. MINNEAPOLIS, MN 55455 Topics: 1. Robotics: An Introduction 2. Manipulator specifications and criteria for selection- Resolution, repeatability, and accuracy 3. Manipulation Tasks 4. Mathematics of Coordinate Transformation 5. Homogeneous transformations matrices- Example: The Puma 560 6. Inverse kinematics: The problem 7. Robot Link transformation matrices 8. Inverse kinematic solutions 9. Velocity and path control: the Jacobian 10. Computation of the Jacobian 11. Task primitives and programming: Computational aspects 12. Determining path trajectories- Interpolation and spline functions 13. Static force analysis: Another role for the Jacobian 14. Manipulator dynamics 15. Inertial effects of drive and transmissions on dynamics 16. Force based control- Force vs. impedance control vs. position control 17. Manipulator peripherals: the RCC 18. Integrating sensors into robots 19. The future Robotics Technology Motivation: Replacement for limited function while maintaining “human” flexibility  Manufacturing Discrete Continuous Flexible VS Hard Automation Transfer Lines Batch High Volume  Hybrid circuit assembly  Hazardous Environments  Space  Underwater  Radioactive  Toxic  Combat  Medical  Microsurgery  Rehabilitation  Upper extremity  Lower Extremity  Transportation From Business Week, NOVEMBER 24, 2003 (by Andrew Park) Dell automated its e-commerce network by installing robots on...
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This note was uploaded on 11/25/2009 for the course MECH 371 taught by Professor Craig during the Spring '09 term at Hong Kong Institute of Vocational Education.

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ME5286CourseNotes01-09 - ROBOTICS COURSE NOTES ©1981,...

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