Advanced Kinematics and Robot Programming

MEC 320 provides an in-depth exploration of the theoretical and practical aspects of industrial robot manipulation. The course begins with a rigorous treatment of forward kinematics, utilizing various representation schemes to model robot pose. Inverse kinematics solutions for common manipulator configurations are then developed, addressing multiple solutions and singularity avoidance. Emphasis is placed on trajectory planning methodologies, including joint-space and task-space interpolation, to ensure smooth, efficient, and collision-free robot motion. A significant portion of the course is dedicated to offline robot programming paradigms, enabling students to develop complex robot tasks without direct access to physical hardware. Through a combination of lectures, problem sets, and hands-on laboratory exercises, students will gain the essential skills to analyze, program, and deploy robotic systems in advanced manufacturing and automation contexts.

Course outline

Lectures, virtual labs, and graded assignments — completed in your browser.

01Lesson 1: Review of Robot Manipulator Fundamentals and Coordinate Transformationslecture

02Lesson 2: Forward Kinematics: Denavit-Hartenberg Parameterization and Transformationslecture

03Lesson 3: Advanced Forward Kinematics: Tool Frame and Work Object Definitionlecture

04Hands-on Lab: Forward Kinematics Implementation and Workspace Analysislab

05Lesson 5: Introduction to Inverse Kinematics: Algebraic and Geometric Solutionslecture

06Lesson 6: Inverse Kinematics: Multiple Solutions, Redundancy, and Singularitieslecture

07Lesson 7: Introduction to Trajectory Planning: Joint Space Interpolationlecture

08Hands-on Lab: Inverse Kinematics and Singularities Explorationlab

09Lesson 9: Advanced Trajectory Planning: Task Space Interpolation and Path Followinglecture

10Lesson 10: Introduction to Offline Robot Programming Methodologieslecture

11Hands-on Lab: Trajectory Generation and Basic Offline Programminglab

12Lesson 12: Advanced Offline Programming: Sensors, Logic, and Error Handlinglecture

13Lesson 13: Robot Program Simulation and Verification Techniqueslecture

14Capstone Service Project: Design and Simulation of a Complex Robotic Taskassignment

Syllabus

["Week 1: Lesson 1: Review of Robot Manipulator Fundamentals and Coordinate Transformations","Week 2: Lesson 2: Forward Kinematics: Denavit-Hartenberg Parameterization and Transformations","Week 3: Lesson 3: Advanced Forward Kinematics: Tool Frame and Work Object Definition","Week 4: Hands-on Lab: Forward Kinematics Implementation and Workspace Analysis","Week 5: Lesson 5: Introduction to Inverse Kinematics: Algebraic and Geometric Solutions","Week 6: Lesson 6: Inverse Kinematics: Multiple Solutions, Redundancy, and Singularities","Week 7: Lesson 7: Introduction to Trajectory Planning: Joint Space Interpolation","Week 8: Hands-on Lab: Inverse Kinematics and Singularities Exploration","Week 9: Lesson 9: Advanced Trajectory Planning: Task Space Interpolation and Path Following","Week 10: Lesson 10: Introduction to Offline Robot Programming Methodologies","Week 11: Hands-on Lab: Trajectory Generation and Basic Offline Programming","Week 12: Lesson 12: Advanced Offline Programming: Sensors, Logic, and Error Handling","Week 13: Lesson 13: Robot Program Simulation and Verification Techniques","Week 14: Capstone Service Project: Design and Simulation of a Complex Robotic Task"]