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    Ik - Puma

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    VienNgocQuang
    This document provides the syllabus for an undergraduate course on robotics. The course is 3 credits and involves 45 hours of lectures and 15 hours of lab work. Students will learn about robot kinematics, dynamics, control systems, path planning, and programming through lectures, homework assignments, a midterm exam, term project, and final exam. The course introduces mathematical modeling of robots and covers topics like rigid body motions, forward/inverse kinematics, velocity kinematics, dynamics, control strategies, and motion planning. Upon completing the course, students will have knowledge of robot control systems and be able to model, simulate, plan paths for, and program robotic manipulators and mobile robots. The instructor is Dr. Nguyen Vinh

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    © All Rights Reserved
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    Ik - Puma

    Uploaded by

    VienNgocQuang
    85 views4 pages
    This document provides the syllabus for an undergraduate course on robotics. The course is 3 credits and involves 45 hours of lectures and 15 hours of lab work. Students will learn about robot kinematics, dynamics, control systems, path planning, and programming through lectures, homework assignments, a midterm exam, term project, and final exam. The course introduces mathematical modeling of robots and covers topics like rigid body motions, forward/inverse kinematics, velocity kinematics, dynamics, control strategies, and motion planning. Upon completing the course, students will have knowledge of robot control systems and be able to model, simulate, plan paths for, and program robotic manipulators and mobile robots. The instructor is Dr. Nguyen Vinh

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    IK - PUMA

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    This document provides the syllabus for an undergraduate course on robotics. The course is 3 credits and involves 45 hours of lectures and 15 hours of lab work. Students will learn about robot kinematics, dynamics, control systems, path planning, and programming through lectures, homework assignments, a midterm exam, term project, and final exam. The course introduces mathematical modeling of robots and covers topics like rigid body motions, forward/inverse kinematics, velocity kinematics, dynamics, control strategies, and motion planning. Upon completing the course, students will have knowledge of robot control systems and be able to model, simulate, plan paths for, and program robotic manipulators and mobile robots. The instructor is Dr. Nguyen Vinh

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    85 views4 pages

    Ik - Puma

    Uploaded by

    VienNgocQuang
    This document provides the syllabus for an undergraduate course on robotics. The course is 3 credits and involves 45 hours of lectures and 15 hours of lab work. Students will learn about robot kinematics, dynamics, control systems, path planning, and programming through lectures, homework assignments, a midterm exam, term project, and final exam. The course introduces mathematical modeling of robots and covers topics like rigid body motions, forward/inverse kinematics, velocity kinematics, dynamics, control strategies, and motion planning. Upon completing the course, students will have knowledge of robot control systems and be able to model, simulate, plan paths for, and program robotic manipulators and mobile robots. The instructor is Dr. Nguyen Vinh

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    Ho Chi Minh City University of Technology

    Faculty of Electrical and Electronics Engineering


    Department of Automatic Control Undergraduate Syllabus

    INTRODUCTION TO ROBOTICS

    Course Code : 409


    - Credit : 3 (3.1.4) TCHP:
    - No. hours Total: 60 LT: 45 BT: 15 TH: ĐA: BTL/TL:
    - Grading : Homeworks: 20%
    Midterm exam: 20% Writing exam - 60 min
    Term project: 20%
    Grading scale 10/10 Final exam: 40% Writing exam - 90 min
    - Pre-requisite : - MS:
    - Program : Advanced Program on Automatic Control
    - Level : Senior
    EE Core course
    - Note :

    1. Course Objectives:
    This course presents the basic concepts in robotics such as sensors, actuators, and approaches of
    robot control. During the course the students will learn the math and computational methods
    necessary to model and solve kinematic problems involving robot manipulators and mobile robots.
    Students will have the opportunity to apply some of the main concepts covered during the lectures
    to construct their own robots and develope control code for various robotic tasks.

    2. Course outline:
    The course introduces foundations and principles of robotic manipulation. Topics include
    computational models of objects and motion, the mechanics of robotic manipulators, the structure
    of manipulator control systems, planning and programming of robot actions. The focus of this
    course is on the kinematics and programming of robotic mechanisms. Important topics also include
    the dynamics, control, sensor and effector design, and automatic planning methods for robots. The
    primary applications including robotic arms and mobile robots are given. A term project would
    allow students to program robots to participate in challenges or competitions.

    3. Textbook and references:


    [1] M.W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, John Wiley &
    Sons, 2005.
    [2] Reza N. Jazar, “Theory of Applied Robotics”, Springer, 2010
    [3] John J. Craig, Introduction to Robotics, 3rd edition, Pearson Education, 2005.
    [4] Gerald Cook, Mobile Robots: Navigation, Control and Remote Sensing, John Wiley & Sons,
    2011.
    [5] Peter Corke, Robotics Toolbox for Matlab, download from http://www.petercorke.com.

    4. Learning Outcomes
    On sucessful completion of this course students should have the following knowledge and skills:
    Knowledge: Structure of manipulator control systems, planning and programming of robot actions.
    Cognitive Skills: Model and solve kinematic problems involving robot manipulators and mobile

    PĐT, Mẫu 2008-ĐC page 1/4


    Syllabus: Introduction to Robotics PĐT, Mẫu 2008-ĐC

    robots
    Subject Specific Skills:
    1. Understand representations of rotations and coordinate transformations
    2. Analyze the position and velocity kinematics of robot arms
    3. Analyze force propagation through linkages
    4. Develop dynamic models of robot arms
    5. Develop robot control strategies
    6. Perform path and motion planning
    7. Develop simulations of robotic systems
    8. Ability to co-work in planning and programming of robot actions
    9. Ability to assign tasks and present topics in a team
    Transferable Skills:
    1. Ability to conduct research in robotics domain.

    Mapping of course outcomes to program outcomes:

    Program Outcomes
    Course Outcomes a b c d e f g h i j k
    1 X X X
    2 X X X
    3 X X X
    4 X X X
    5 X X X
    6 X X X X
    7 X X X X
    8 X X X X
    9 X X X X

    5. Learning Strategies & Assessment Scheme:


    Learning strategies:
    - Read lecture notes and reference books before each class
    - Participate lecture hours, apply theory to solve exercises and homeworks
    - Use Matlab in simulation, planning, and programming of robot actions
    Assessment scheme:
    - Homeworks (20%)
    - Mid-term exam (20%)
    - Term project (20%)
    - Final exam (40%)

    6. Instructor:
    • Dr. Nguyen Vinh Hao - Faculty of Electrical and Electronics Engineering

    7. Course content:
    Week Content Ref. Note
    1 Chapter 1: Introduction [1],[2],[3] 5 hours
    1.1 Mathematical Modeling of Robots
    1.2 Robot as Mechanical Devices

    page 2/4
    Syllabus: Introduction to Robotics PĐT, Mẫu 2008-ĐC

    Week Content Ref. Note


    1.3 Common Kinematic Arrangements of Manipulators
    1.4 Homework
    2, 3 Chapter 2: Rigid Motions and Homogeneous [1],[2],[4] 10 hours
    Transformations
    2.1 Representing Positions and Rotations
    2.2 Rotational Transformations
    2.3 Rigid Motions
    2.4 Homogeneous Transformations
    2.5 Homework
    4, 5 Chapter 3: Forward and Inverse Kinematics [1],[2],[4] 10 hours
    3.1 Kinematic Chains
    3.2 Forward Kinematics
    3.3 Inverse Kinematics
    3.4 Homework
    6, 7 Chapter 4: Velocity Kinematics – Manipulator Jacobian [1],[2],[4] 10 hours
    4.1 Angular Velocity
    4.2 Linear Velocity
    4.3 Derivation of the Jacobian
    4.4 The Analytical Jacobian
    4.5 Singularities
    4.6 Inverse Velocity and Acceleration
    4.7 Homework
    8, 9 Midterm exam
    10, 11 Chapter 5: Path and Trajectory Planning [1 - 4] 10 hours
    5.1 Path Planning Using Potential Fields
    5.2 Motion Planning Algorithm
    5.3 Trajectories for Point to Point Motion
    5.4 Trajectories for Paths Specified by Via Points
    5.5 Homework
    12, 13 Chapter 6: Dynamics [1],[2],[4] 10 hours
    6.1 Euler-Lagrange Equations
    6.2 General Expressions for Kinetic and Potential Energy
    6.3 Equations of Motion
    6.4 Properties of Robot Dynamic Equations
    6.5 Skew Symmetry and Passivity Properties
    6.6 Newton-Euler Formulation
    6.7 Homework
    14, 15 Chapter 7: Robot Control [1 - 4] 10 hours
    7.1 Introdution
    7.2 Actuator Dynamics
    7.3 Set-Point Tracking
    7.4 Feedforward Control and Computed Torque
    7.5 Adaptive Control
    7.6 Force Control
    7.7 Homework
    16 Term project Report [1 - 4] 5 hours
    ** Midterm exam content
    Chapter 2-4
    ** Final exam content
    Chapter 5-7

    page 3/4
    Syllabus: Introduction to Robotics PĐT, Mẫu 2008-ĐC

    8. Contact information:
    + Dr. Nguyen Vinh Hao, Email: vinhhao@hcmut.edu.vn

    HoChiMinh City, June 19th, 2013


    Instructor

    Dr. Nguyen Vinh Hao

    page 4/4

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