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ME4245: Robot Kinematics, Dynamics and Control. Dr Marcelo H. Ang Jr Associate Professor Mechanical Engineering Dept E3A-04-09, mpeangh@nus.edu.sg, 65162555. CHAPTER 0. Introduction. Learning Objectives. Know what a robotic manipulator is Know what a robotic system is

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ME4245: Robot Kinematics, Dynamics and Control


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    1. ME4245: Robot Kinematics, Dynamics and Control Dr Marcelo H. Ang Jr Associate Professor Mechanical Engineering Dept E3A-04-09, mpeangh@nus.edu.sg, 65162555

    2. CHAPTER 0 Introduction

    3. Learning Objectives • Know what a robotic manipulator is • Know what a robotic system is • Different subsystems • Analyze and synthesize robotic mechanisms including controllers

    4. Robotic Manipulators: Mitsubishi PA-10 and PUMA 560 video of PA10 robot – with Puma Visual servoing

    5. POLMAN 3x2 manipulator Krzysztof Mianowski, WUT • 6 degrees of freedom (DOF) • Special paralell structure of 3 DOF linear and 3 DOF angular motion • Spherical wrist with 3 DOF (third class group with 3 DOF’s) • Decoupled position/orientation • Simlicity and lightness of the mechanical structure • Good kinematic manipulability, dexterity and versatility • Very high (good) maneuverability • Very low hysterezis (good Lost Motion LM=0.015mm) • Good repeatibility of control (0.02mm) • Good absolute accuracy (0.5mm)

    6. Krzysztof Mianowski, WUT Polycrank Mechanism

    7. Robotic Manipulator Configurations

    8. Cartesian

    9. Cylindrical

    10. Spherical

    11. SCARA

    12. Articulated (PUMA)

    13. Articulated (Intelledix)

    14. ME4245E • Robot Manipulator Kinematics (50%) • Robot Manipulator Dynamics (25%) • Robot Manipulator Control (25%)

    15. Assessment • One final examination (70%) • Quizzes (at least 2, 15% each) • All quizzes and final examination are open book/notes • Exercises / homeworks (not graded)

    16. Other aspects • Motion Planning • Task Planning • Intelligence • Mobile Robots • Wheeled • Omni-directional vs non-omnidirectional • Legged

    17. Robotic System Architecture Desired Interactionswith environment Exteroceptive sensing Control of Interactionwith environment Commands to internal actuators ProprioceptiveSensing Control of Internal States Machine and Environment