OSU ECE 5463 - Syllabus-FA2014 (2 pages)

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Syllabus-FA2014



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Syllabus-FA2014

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2
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems

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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 Homework Subjects Week 1 Course introduction Reading or Project Chap 1 HW1 RM501 command language Chapter 2 1 2 3 2 62 7 HW2 spatial descriptions 2 9 2 10 Mitsubishi RM501 example 2 3 Homogeneous transforms position rotation HW3 inverse relative transforms properties 4 Manipulator coordinate systems Project 1 Chap 3 HW4 Chapter 4 1 HW5 Denavit Hartenburg convention link parameters direct kinematics 5 Inverse kinematics 4 4 algebr sol 4 7 4 8 4 11 App C Project 2 6 Midterm I Jacobians Chap 5 7 Dynamics Chap 6 8 DC motor actuators HW7 9 Actuator simulation HW8 HW6 10 Control of actuators 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 2 3 4 Homework Project Midterms Final 15 15 30 40 Final 6 00pm 7 45pm Thursday Dec 11 HW9 Project 3



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