Home Robotics (ME 6407)

Robotics (ME 6407)

This is an unofficial syllabus. The most updated syllabus for a specific section, see CANVAS.

https://www.me.gatech.edu/me-6407-robotics

ME 6407 Robotics A, Q

Manipulability
Task-space control

Course Information

  • Course Number: ME 6407 (A/ROBO)
  • Semester: Spring 202X
  • Meeting Location:
  • Class Schedule:

Instructor

  • Name: Dr. Jun Ueda
  • Contact: Please use the CANVAS email function.

Graduate Teaching Assistant

Course Purpose and Objectives

  • Purpose: This course introduces the kinematics, dynamics, and control of serial robotic manipulators, with further topics on parallel manipulators and robotic vehicles. It is oriented towards designers of robotic systems, aiming to provide an understanding of the mathematical tools and algorithms for motion and force planning/control and impart skill in using these methods.
  • Prerequisite: ME3017 or equivalent (System Dynamics). Students should have a background in Newtonian physics, vector and matrix algebra, geometry, and reasonable programming competence in MATLAB and Simulink. More advanced courses in dynamics, kinematics, or automatic controls are beneficial.
  • Educational Objectives:
    1. To teach students basic mathematical and computational tools for modeling and analysis of robotic manipulators.
    2. To educate students to identify, model, analyze, design, and simulate kinematics and dynamics of robotic manipulators in various engineering disciplines using a unified approach.

Grade Plan

Graded EventPointsPercent
Homework/Computer Assignments30030%
Midterm Exam 120020%
Midterm Exam 220020%
Final Exam30030%
TOTAL1000100%

Guaranteed Grades:

  • 90.0% + : A
  • 80.0% + : B
  • 70.0% + : C
  • 60.0% + : D
  • < 60% : F

Final Exam Options:

  • [OPTION 1] Exempted from Final Exam: Your letter grade is based on HW1-5 + Exam 1 + Exam 2 = 700 points max.
    • A > 89.5% or 626.5 points
    • B > 79.5% or 556.5 points
    • … (and so on for C and D)
    • No curve is applied to this option.
    • To choose this option, submit a final exam waiver request (online: see Assignment on Canvas), notifying your total points (out of 700) and the letter grade you expect. You will receive a confirmation email.
  • [OPTION 2] Take the Final Exam: Your final exam grade will replace the lower grade between Exam 1 and Exam 2. If the final exam grade is lower than both midterm grades, it will not count. There is NO RISK in taking the final exam. A curve may be applied to grading for this option.

Homework/Computer Assignments

  • There are five (5) homework assignments.
  • Submissions are via CANVAS.
  • Submission Format: Unless specified, create a SINGLE WORD or PDF file containing all descriptions, derivations, plots, tables, and codes.
  • File Naming: HWX_LastName_FirstName.docx (or PDF)
  • Provide sufficient details and justification for your answers. Answers without justification or numerical results may lose points. Do not expect graders to run MATLAB scripts to reproduce numbers.
  • Handwritten notes may be scanned if clearly written.
  • Grace Period: 15 minutes grace period for CANVAS upload (e.g., until 12:15 am for a 12:00 am deadline).
  • Late Penalty: 30% of assigned points per day late for the first two days after the deadline. Zero points after 2 days.
  • For legitimate reasons (hospitalization, emergency vacation, etc.), contact the instructor as soon as possible to coordinate a late submission without penalty.

Exams and Exam Dates

  • All exams are given in the classroom (NO online exam for on-campus sections in Spring 2025).
  • Refer to the ME 6407 class schedule (at the end of the original page, not included here) for specific dates.
  • All exams are closed book and notes unless otherwise specified.
  • Allowed Notes: Students may prepare an 8 ½ x 11 inch paper with notes on both sides.
    • Exam 1: 2 sheets (4 sides)
    • Exam 2: 3 sheets (6 sides)
    • Final Exam: 4 sheets (8 sides)
    • These sheets are cumulative.
  • Other Authorized Reference: A standard calculator.
  • There will be no MATLAB questions on exams.
  • Students are expected to take exams during specified periods. Consult the instructor as soon as possible if a situation prohibits attendance.

Academic Misconduct

  • All students must comply with the Georgia Tech Honor Code.
  • Evidence of cheating or violations will be referred to the Dean of Students with a recommendation of zero points for the requirement and a one-letter grade reduction in the course.
  • Cheating includes, but is not limited to: using unauthorized references, copying from any source, allowing others to copy your work, taking/submitting work in another’s name, or altering work for regrading.
  • The School monitors online tutoring services like Chegg. Identified cheating activities may result in the assignment being voided for all students with zero points awarded.

Textbook and Supplemental Materials

  • Required Textbook: None.
  • Suggested Reference: Craig J.J., Introduction to Robotics, Mechanics and Control (any edition, 1st, 2nd, or 3rd are suitable and often inexpensive used).
  • Other Supplemental Materials:
    • Yoshikawa, T., Foundations of Robotics, MIT Press.
    • Murray, R., Li, Z., Sastry, S., A Mathematical Introduction to Robotic Manipulation, 1994 (free online).
    • Angeles, J., Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms, 2006 (free download from GT library).
    • Some handouts from past ME6407.

Computer Usage

  • MATLAB (including Simulink and SimScape MultiBody) will be used as supplementary software.
  • Download necessary packages and toolboxes from the OIT software site: https://software.oit.gatech.edu/

Recorded Lectures

  • On-campus students do not have default access to lecture recordings.
  • On-campus students are not allowed to take the course remotely throughout the semester per institute policy.
  • Recordings for legitimate absences (sickness, business trips, family events) may be available upon request to the TA and instructor.

Distance Learning (ME-6407-Q)

  • There will be a one-week delay from the posted class schedule for the Q section.
  • Homework submissions and solutions will be managed through the Canvas site ME-6407-Q.
  • All other information will be through the main Canvas site.

Course Webpage

  • Class materials will be available on the course web page on Canvas – Modules.

Topics

  • Kinematics
    • Rigid body kinematics
    • Homogeneous coordinate transformations
    • Denavit-Hartenberg conventions
    • Forward and reverse kinematics
    • Displacement singularities
    • Jacobians
    • Velocity and static singularities
  • Statics and Dynamics
    • Static analysis
    • Stiffness
    • Lagrangean dynamics
    • Newton-Euler dynamics
  • Mechanisms
    • Sensors and actuators
    • Geared motor dynamics
    • Manipulability
    • Redundant manipulator Jacobian control
  • Controls
    • Joint control and end-point control
    • Path planning
    • Position control and force control
    • Stability
    • Compliance control and Hybrid control
  • Other
    • Force control and haptics
    • New trends in Robotics (Learning and data-driven approach, cyber-attack-aware telerobotics)

Accommodations for Students with Disabilities and for Students at Higher Risk for Severe Illness with Covid-19

  • Students can request accommodations through the Office of Disability Services (ODS) due to a condition defined by the ADA or identification as higher risk for Covid-19 by the CDC.
  • Registering with ODS involves application, documentation upload, and an intake meeting.
  • If approved by ODS, the instructor will work to understand needs and investigate possible accommodations.
  • If a request fundamentally alters the learning outcome, ODS, advisors, and the school will work with the student to find a suitable alternative.

Services for Students in Distress

  • Students may experience issues affecting learning (pandemic concerns, strained relationships, anxiety, depression, etc.).
  • Mental health concerns or stressful events can diminish academic performance.
  • GT offers confidential mental health services.
  • Contact GT CARE (www.care.gatech.edu, 404-894-3498) or the Counseling Center (www.counseling.gatech.edu, 404-894-2575) for support. On-campus counselors and after-hours services are available.

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