436-473 Robotics - Theory and Application

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Objectives:

Upon completion students should:

• understand the classification and function of the spectrum of robots;

• have skill in devising methods for enhancing the performance of several robot types;

• appreciate the bases of the long term development of robots in industry.

Content:

Overview and classification of robot systems: pick and place devices, continuous path manipulators. Robot vision, voice actuators, obstacle avoidance, movement strategies. Programming and response: point to point programming, teach mode programming, space and tool coordinates, programming for flexible manufacture, human factors in the management of robot systems. Kinematics of robot arms: multi-degree-of-freedom manipulators. Industrial task description and robot requirements. Dynamics. Six degree-of-freedom robot arms, non-linear systems, real time dynamics, predicted limits to performance. Control: motion resolvers, passive compliant devices, obstacle avoidance control, force feedback and vision control.

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