DOC PREVIEW
OSU ECE 5463 - Syllabus-FA2014

This preview shows page 1 out of 2 pages.

Save
View full document
View full document
Premium Document
Do you want full access? Go Premium and unlock all 2 pages.
Access to all documents
Download any document
Ad free experience
Premium Document
Do you want full access? Go Premium and unlock all 2 pages.
Access to all documents
Download any document
Ad free experience

Unformatted text preview:

ECE 5463 Introduction to Real-Time Robotics Systems Fall 2014 http://www2.ece.ohio-state.edu/~zheng/ece5463 Instructor: Yuan F. Zheng Classroom: 0300 JR Lecture hour: 5:20 pm – 6:15 pm, MWF Office hour: 1:30 pm– 2:30 pm, MWF Office: 720 Dreese Lab Textbook: “Introduction to Robotics: Mechanics and Control,” 3rd Ed., by J. J. Craig HomeworkWeek Subjects Reading or Project 1 Course introduction Chap. 1 HW1 Mitsubishi RM501 example 2 RM501 command language Chapter 2.1-2.3, 2.6-2.7 HW2 spatial descriptions 2.9-2.10 3 Homogeneous transforms: position, rotation, HW3 inverse, relative transforms, properties Project 1 4 Manipulator coordinate systems, Chap. 3 HW4 Denavit-Hartenburg convention, link parameters, direct kinematics 5 Inverse kinematics Chapter 4.1 HW5 4.4 (algebr. sol.) 4.7 4.8-4.11, App. C Project 2 6 Midterm I, Jacobians Chap. 5 7 Dynamics Chap. 6 HW6 8 DC motor actuators HW7 9 Actuator simulation HW810 Control of actuators HW9, Project 3 11 Position, velocity, and force sensing Handout materials HW10 12 Midterm II, Mobile robot kinematics and dynamics Handout materials HW11 13 Mobile robot navigation Handout materials HW12 14 Mapping and localization Handout materials Note: Schedule may vary Homework: 1. Mitsubishi RM501 kinematics 2. Mitsubishi RM501 programming 3. Homogeneous transformations 4. Direct kinematics 5. Inverse kinematics 6. Jacobians and Dynamics 7. DC motor actuators 8. Actuator simulation 9. Control of actuators 10. Position & velocity sensing 11. Mobile robot kinematics and dynamics 12. Mobile robot navigation Grading: 1. Homework: 15% 2. Project: 15% 3. Midterms: 30% 4. Final: 40% Final: 6:00pm – 7:45pm, Thursday, Dec.


View Full Document

OSU ECE 5463 - Syllabus-FA2014

Download Syllabus-FA2014
Our administrator received your request to download this document. We will send you the file to your email shortly.
Loading Unlocking...
Login

Join to view Syllabus-FA2014 and access 3M+ class-specific study document.

or
We will never post anything without your permission.
Don't have an account?
Sign Up

Join to view Syllabus-FA2014 2 2 and access 3M+ class-specific study document.

or

By creating an account you agree to our Privacy Policy and Terms Of Use

Already a member?