ERAU-Prescott Robotics

Space Robotics
The Space Robotics Laboratory at ERAU Prescott
is located in the STEM Education Center (Bldg. 76).
Hexapod Mobile Robot
Six-legged robotics platform has been designed
by team PreSept for agile obstacle avoidance.
Capstone Class 2017
Team members from left to right: Robert Noble,
Austin Wild, Jennifer Stiles, Nick Harris,
Hilary Nelson, and Andrew Dittrich.
Capstone Class 2017
Team members from left to right: Steven Rudrich,
Sarah Pearson, Magnus Bergman, Kristin Sandager,
David Olson, Davis Fischer, Kevin Horn,
Mariah Sampson, Evan Kline, and Trentin Post.
Capstone Class 2018
Team members from left to right: Mathew Todd,
Jacqueline Worley, Grayson Lynch,
Chad Abramson, Garrison Bybee, Riley Griffin,
Morgan Garone, and Sara El Baissi.
Capstone Class 2018
Team members from left to right: Justin Maza,
Theodore Lilyeblade, Clayton Walker,
Bruce Nelson, Jonathan Buchholz, Andrew Petersen,
Emma Hutchison, and Alexandra Indritz.

ME 302 - Introduction to Robotics I

This course is an introduction to robotics. The main purpose is to develop in future roboticist the ability to analyze and model the kinematic behavior of simple and redundant kinematic chains and mobile robot manipulators. This requires presenting a rigorous analytic formulation based on fundamental linear algebra and calculus know-how. Emphasis is placed on methods lending themselves to the implementation of simple kinematic algorithms using the Matlab® scripting language and graphics built-in functions.

Topics include:

Linear algebra;
Rotation matrices, Euler angles, angle and axis representation, unit quaternions, and homogenous transformations;
Analytic forward kinematics of open and closed chains;
Analytic inverse kinematics;
Differential forward kinematics;
Kinematic singularities and redundancy;
Differential inverse kinematics;
Splines and trajectory generation;
Work space and configuration space trajectory planning;
Obstacle avoidance;
Differential drives and mobile manipulation.