

ME 5337 Introduction to RoboticsAssignments for Fall 2015 are assigned during the lecture and will not be posted here.

Homework 
Assigned Date  Due Date 
The problems to work for homework # 2 are from your textbook (3rd Edition) Also, you need to complete MATLAB exercise 3 (on page 100 in your textbook). 
September 23, 2013  October 3, 2013 
The problems to work for homework # 3 are from your textbook (3rd Edition) 
October 1, 2013  October 10, 2013 
The problems to work for homework # 4 are from your textbook (3rd Edition) Also, you need to complete MATLAB exercise 5 (on page 163 in your textbook). You are not required to evaluate you work with the toolbox  this is optional. Addendum to HW 4: Due Tuesday October 22, 2013 Evaluate the Jacobian following the theory/procedure in Exercise 5.17 and by taking the derivative of the tip position vector for the three cases below:

October 10, 2013 
October 17, 2013 
Homework 7 
Programming of IBM 7535 SCARA Robot  This is not an assigned project but rather instructions for you to program an industrial robot by familiarizing yourselfs with the IBM 7535 SCARA robot and its programming language AML (A Manufacturing Language). The AML language and the associated AML manual are provided to you and you can download them. Note that these are provided 'as is' and are intended only to be used by the students in ME 5337 class. Anyone else who downloads these is doing so at their own risk. Part A: Programming the IBM 7535 SCARA Robot Part B: (Print the file above) The proximity sensor is currently interfaced and working with the robot controller). You need to read and undertand how to use the commands WAITI and TESTI. The DI singal for the proximity sensor is 3. The conveyor will be emulated by having the parts presented at a predefined location and then activat e the sensor to 'fool' the robot into thinking that there is a conveyor (see the class discussion). You are to pick a number of parts and place them in a square matrix with a 100 mm side. Note: I have put a short guide on how to start AML and interface with the robot by the robot computer. Note: The command PMOVE(X_coord, Y_Coord, Roll) does not work with the version of AML available. Instead use the following: Define a new point with coordinates: PT1: NEW POINT(X_coord, Y_Coord, Roll) Then in your programs move to the desired point: PMOVE(PT1); 
Project 1  Forward and Inverse Kinematics Analysis of an Industrial Robot This project is due October 24, 2013 The robot to be analyzed is the Adept Viper S650 6dof articulated robot. The robot is in the MARS lab and will be demonstrated to you so that you can have a better understanding and visualize its operation. More information about the robot could be found at the Adept Technologies Inc. web page  http://www.adept.com. Perform the Forward Kinematics Analysis: Assign Frames, Generate the MDH table, find the individual homogeneous transforms and find the T60 transform (you could use software tools for the transformation calculations). Perform the Inverse Kinematics Analysis utilizing the developed T60 transform and assuming that there is a known given/desired position and orientation for the last frame. The entries of the known T60 should be assumed to be variables similar to the paper discussed in class. Develop and document a software program which will find the joint values given the desired T60. The program will be verified in the lab since the robot controller/teach pendant has the capability to display among other information the World/Joint coordinates. INFORMATION EMAILED TO YOU (DRAFT DESCRIPTION 1) The following link should get you to the Adept site to find needed information. You must include some comments at each step explaining what you did. 1. Develop the MDH kinematic table for this robot
2. Develop forward kinematics based on MDH table
3. Develop inverse kinematics
4. Develop software code (matlab, mathematica, scilab) b) perform inverse kinematics based on the analysis You can verify your code and analysis by assuming joint values and estimating the FK transformation I reserve the right to ask you to discuss your project and demonstrate your work to me or to your classmates. This project will be due on Thursday October 24, 2013. IMPORTANT IFORMATION

Project 3 Real World Application on Experimentation with GMF S110 Industrial Robot 
Last Updated October 2013
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