Difference between revisions of "ME115 2016"

Revision as of 22:08, 3 January 2016

This is the homepage for ME 115(a,b) (Introduction to Kinematic and Robotics) for Winter/Spring 2016.

Course Staff, Hours, Location

• Lecture Schedule: The first class will meet at 11:00 am in Gates-Thomas 135. Due to numerous class conflicts, the time will be changed to accommodate as many students as possible.
• Lecture Location: Gates-Thomas 135 is the tentative location, but subject to change.

Course Text and References

The main course text is:

• R.M. Murray, Z. Li, and S. Sastry, A Mathematical Introduction to Robotic Manipulation, CR Press, 1994.
• The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as MLS (the three authors last name initials). While the course topics will follow the subjects in this text, additional material not in the text will often be presented in class. Additional course handouts covering this material will be posted on this website

Course Syllabus

Theoretical Kinematics is the study of motion and the analytical tools to represent motion, while Applied Kinematics is the analysis and synthesis of mechanisms which implement given motions. This course presents basic ma terial in theoretical kinematics, while the applied portions of the course focus on robotic mechanisms.

Grading

The final grade will be based on homework sets, and a final exam or final project:

• Homework (70%): Homework sets will be handed out every 7-10 days, and are due at 5 pm on the due date (which will always coincide with a class meeting). Homeworks can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. Some homeworks will require computation. MATLAB or Mathematica should be sufficient to solve every homework posed in this course, though students can choose their favorite programming language. Code is considered part of your solution and should be included in with the problem set when appropriate.

• Final exam/project (30%): Students have the option to take a final exam (a limited time take-home format exam which is open book, open note, and computer allowed) or select a final project. The final project must incorporate some aspect of the course, and the topic and scope my be approved by the course instructor. The final exam will be handed out on the last day of class and due at 5:00 pm the last day of finals. If selected, the final project is similarly due at 5:00 pm on the last day of finals.

Collaboration Policy

Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect your own understanding of the subject matter at the time of writing. Computer code and graphical plots are considered part of your writeup, and therefore should be done individually (you can share ideas, but not code). No collaboration is allowed on the examinations

Announcements

• 06/04/12: Here are some background papers which may be useful for some final projects:
  • Delta Robot: Kinematics of the Delta; Singularities of the Delta; Review of the Stewart Platform;
  • 'Agile Eye:\' Agile Eye; Spherical Parallel Mechanisms;
  • Force Closure Sets on Polygons: Quantitative Test o Force Closure on Planar Objects;

The course time will change based on a class vote to find the time where the maximum number of students can participate.\n\n

Course Schedule for ME115(a)