GraduateEvery SpringBuilding a Manufacturing Robot Software SystemThis hands-on course will look at the components of manufacturing robots, including: Architectures, task planning, control system, simulation, and measurement science.
Students will explore the work that is being researched around the world in each of these areas, and will perform small hands-on exercises in most of the classes to gain a deeper understanding of how a selected set of these technologies can be applied to real-world challenges. This course will have invited presentations from experts in the field. The course will culminate in the development of a simulation-based control system that will address challenges presented in the Agile Robotics for Industrial Automation Competition (ARIAC) (www.nist.gov/ariac). There will be a significant amount of programming in this class, so prior C++ and/or Python programming experience is necessary. Note that students have to be familiar with either C++ or Python for this course.
After successfully completing this course students will be able to:
• Learn about challenges faced by small and medium manufacturers.
• Develop strategies to help an industrial robot adapt to unseen situations.
• Implement these strategies through an architecture which includes a ROS/Gazebo interface
in ARIAC.
• Use task planning for received orders and motion planning to carry out commands to complete these orders.
• Control a robot using joint control and the MoveIt! package in the Gazebo environment.
• Use ROS tools (e.g., RViz and rqt) to debug and set joint positions.
Students who plan to take this course must have the following necessary knowledge and skills:
• Programming:
– C++: Procedural programming, templates, and object-oriented programming.
or
– Python: Data structures, procedural programming, and object-oriented programming.
• Code documentation is of paramount importance in this course. Therefore, knowing how to properly document source code in a project is crucial.
• Assignments and projects are done in groups. Students will need to work with teammates and are expected to contribute to assignments and projects.Robotics
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