Texas A&M University

Department of Mechanical Engineering

Fall 2016
MEEN408: Introduction to Robotics
MEEN 612: Mechanics of Robotic Manipulators
Instructor:
Name
Dr. Pilwon Hur

Sections
600 (Lecture)

Office Hours:
Instructor
Dr. Pilwon Hur
Kenny Chour

Office
MEOB 222
ENPH 422

Time
MWF 11:30-12:20

Location
ENPH 204

Contact
979-862-4461
ckennyc@tamu.edu

e-mail
pilwonhur@tamu.edu

Hours
T 10:30-12PM or by appointment
TBD

Prerequisites: MEEN 364 or equivalent

Textbook: Robot Modeling and Control by Spong, Hutchinson and Vidyasagar, Wiley 2006
References:
1. Nonlinear Control by Hassan Khalil, Prentice Hall, 2014
2. Nonlinear Systems by Hassan Khalil, Prentice Hall, 2001
3. Robot Analysis and Control by Asada and Slotine, Wiley, 1986
Course Description: MEEN 408/612 is a stack course for both undergrad and graduate students. It
handles forward, inverse kinematics, differential kinematics (Jacobian), dynamics, and linear/nonlinear
control of robotic manipulators. Forward kinematics includes homogeneous transformation, and DH
representation. Differential kinematics include Jacobian, singularity and decomposition of Jacobian and
force/torque relationship. Dynamics includes Euler-Lagrange Dynamics of robotic manipulators, and DC
motor dynamics. The second half of the course handles nonlinear systems theory and control. Nonlinear
systems theory includes stability theories of linear and nonlinear systems, Lyapunov's thoery, LaSalle's
invariance principle, and phase portrait. Nonlinear systems control includes independent joint control
(PD/PID control), PD with feedforward control, inverse dynamics, robust control, adaptive control,
passivity-based control, passivity-based robust control, passivity-based adaptive control, sliding mode
control, feedback linearization, optimal control, and force/impedance control. The uniqueness of this
course is that it is a combination of project-based and lecture-based classes. A course project will be
announced in the beginning of the semester and appropriate lab tutorials will be given for the project.
Lectures covering materials that are needed to accomplish the project will be given throughout the
semester. This course is a fast-paced course especially for the second half of the course. A practical, and
hands-on examples are dealt along with detailed proofs so that students understand how to use these
theories to design and control robotic manipulators. Prerequites for this course include linear algebra,
undergraduate level dynamics and control, some knowledge on Matlab and C++.
Course Objective: To enable students to have a working knowledge of i) modeling, analysis and control
of robotic manipulators and ii) hands-on techniques of embedded system and robotic software platform.

Course Structure and Grading: Homework will be assigned about once every two weeks and please
expect about two weeks for finishing each homework. No late homework will be accepted. Solutions to
homework problems will be made available. All written work must be clear and professionally done with
the necessary steps leading to the solution clearly marked. Homework solutions will be made available on
eCampus. At most one of the homework problems will be selected for grading randomly and it will carry
80% of the grade for that homework set. The remaining problems will receive a checkmark, if a solution
is present, and they will receive 20% of the grade for that homework set. Homework is intended to show
your individual work. Each student is required to turn-in his/her solutions to the homework assignments.
However, you are allowed to form groups or join each other on discussions regarding the problems.
Mid Term: 20%
Homework: 20%
Final: 30%
Projects: 30%
Tentative Schedule:
Week Project
1
2
3
4
5
6
7
8
9
10
11
12
13
14

Installing Ubuntu and ROS on

BBB
Introduction to ROS
Hello World example
GPIO, LEDs, ADC, PWM,
WebCam
Communication between nodes
Troubleshooting
Networking between multiple
BBB
Troubleshooting
Troubleshooting
Troubleshooting
Troubleshooting
Troubleshooting

Lecture
Position, Orientation, Frames, Translations, Rotations, and
Transformation
Forward Kinematics of Robotic Manipulators

Inverse Kinematics of Robotic Manipulators

Jacobians, Velocity Propagation and Force Transformations

Path Planning
Deriving the Dynamic Equations of Motion for Robotic
Manipulators
Motor dynamics, Independent Joint Control
System Theory and Stability
Inverse Dynamics
Adaptive/Robust Inverse Dynamics
Sliding Mode Control, control Lyapunov Function
Class Project

Hardware Preparation:
1. Personal Laptop: Any laptop with Linux, Mac, or Windows would be ok. Ubuntu or Mac would
be preferable. If you have Windows system, you may try partitioning your system so that you can
dual boot. I do not recommend using virtual machine on Windows. If you dont want to be
bothered with all of these hassles, just use Windows. You wouldnt have any problems with using
Windows. The version of Ubuntu could be either 14.04 LTS or 16.04. Since I am using 14.04, it
would be more convenient for you to choose the same version. However, you shouldnt have any
problems using 16.04 as well.
2. Beaglebone Black: Choose Rev C.
3. MicroSD: 8GB is enough. Less than 8GB may cause some problems.
4. Other kits: You can use electronic parts from EIC.

Americans with Disabilities Act

The Americans with Disabilities Act (ADA) is a federal antidiscrimination statute that provides
comprehensive civil rights protection for persons with disabilities. Among other things, this legislation
requires that all students with disabilities be guaranteed a learning environment that provides for
reasonable accommodation of their disabilities. If you believe you have a disability requiring an
accommodation, please contact the Department of Student Life, Services for Students with Disabilities in
Room 126 of the Koldus Building, or call 845-1637.
Copyrights
The handouts used in this course are copyrighted. By handouts" we mean all materials generated for this
class, which include but are not limited to syllabi, lab problems, in-class materials, review sheets, and
additional problem sets. Because thes materials are copyrighted, you do not have the right to copy the
handouts, unless the author expressly grants permission.
Scholastic Dishonesty
As commonly defined, plagiarism consists of passing off as ones own ideas, work, writings, etc., that
belong to another. In accordance with this definition, you are committing plagiarism if you copy the work
of another person and turn it in as your own, even if you have the permission of that person. Plagiarism is
one of the worst academic sins, for the plagiarist destroys the trust among colleagues without which
research cannot be safely communicated. If you have questions regarding plagiarism, please consult the
latest issue of the Texas A&M University Student Rules [http://student-rules.tamu.edu/], under the section
Scholastic Dishonesty.
Aggie Honor Code: An Aggie does not lie, cheat, or steal, or tolerate those who do