Robotics, vision, and mechatronics for manufacturing

This course provides a hands-on demonstration of tools at the intersection of robotics and mechatronics for manufacturing. Students will walk through the fundamentals of robotic manipulation and computer vision, in tandem with focused discussions on vision-based planning and controls in a 3-dimensional space. Along the way, the course provides insights into how complex problems can be decomposed and solved using powerful numerical tools and effective software. Project-based assignments and demonstration enhance in-class learning. And occasional, student-lead presentations foster a mindset of predictive planning and technical communication.

Foundations

• Overview

• Position and Orientation:

  all about rotation, translation, pose, and their compositions and operations:

  • concepts
  • mathematical representations and compositions

• Time and motion

Robot Kinematics

• Kinematics
  • from concepts to Matlab representations and analysis
  • delta robot

Computer Vision

• Light and color
• Image and vision

Integration, Expansion, and Practice

• Pose estimation

• Jacobean and manipulator velocity

• Dynamics and control

• Vision-based control

• Matlab realization and visualization

If time allows,

• ROS
• Gazebo and Rvitz
• openCV
• Standards
• G code