The course objective is to enable students to understand the concepts of robot kinematics, dynamics, path and trajectory planning; robot control, programming, sensors, and actuators along with their working principles, and to allow them to perform robot programming applications on an industrial robot platform.
- Lecture in the classroom
- Practice in the computer/robotics lab
Principle Sources
- M. W. Spong., S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, Wiley, 2006,
- P. Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Springer, 2011
Other Sources
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Course Schedules
Week
Contents
Learning Methods
1. Week
Course Introduction
Lecture
2. Week
Robot Kinematics I
Lecture, practice
3. Week
Robot Kinematics II
Lecture, practice
4. Week
Robot Dynamics I
Lecture, practice
5. Week
Robot Dynamics II
Lecture, practice
6. Week
Path and trajectory planning
Lecture, practice
7. Week
Review
Lecture, practice
8. Week
Midterm
9. Week
Robot Control and Programming I
Lecture, practice
10. Week
Robot Control and Programming II
Lecture, practice
11. Week
Sensors - Velocity, Force, Tactile, Vision
Lecture, practice
12. Week
Actuators - DC Motors, Servo Motors, Stepper Motors, and Pneumatic and Hydraulic Actuators
Lecture, practice
13. Week
Robot Vision and Perception
Lecture, practice
14. Week
Review
Lecture, practice
15. Week
16. Week
17. Week
Assessments
Evaluation tools
Quantity
Weight(%)
Midterm(s)
1
40
Final Exam
1
60
Program Outcomes
PO-1
Adequate knowledge in mathematics, science and engineering subjects pertaining to the relevant discipline; ability to use theoretical and applied information in these areas to model and solve engineering problems.
PO-2
Ability to identify, formulate, and solve complex engineering problems; ability to select and apply proper analysis and modeling methods for this purpose.
PO-3
Ability to design a complex system, process, device or product under realistic constraints and conditions, in such a way so as to meet the desired result; ability to apply modern design methods for this purpose. (Realistic constraints and conditions may include factors such as economic and environmental issues, sustainability, manufacturability, ethics, health, safety issues, and social and political issues according to the nature of the design.)
PO-4
Ability to devise, select, and use modern techniques and tools needed for engineering practice; ability to employ information technologies effectively.
PO-5
Ability to design and conduct experiments, gather data, analyze and interpret results for investigating engineering problems.
PO-6
Ability to work efficiently in intra-disciplinary and multi-disciplinary teams; ability to work individually.
PO-7
Ability to communicate effectively, both orally and in writing; knowledge of a minimum of one foreign language.
PO-8
Recognition of the need for lifelong learning; ability to access information, to follow developments in science and technology, and to continue to educate him/herself.
PO-9
Awareness of professional and ethical responsibility.
PO-10
Information about business life practices such as project management, risk management, and change management; awareness of entrepreneurship, innovation, and sustainable development.
PO-11
Knowledge about contemporary issues and the global and societal effects of engineering practices on health, environment, and safety; awareness of the legal consequences of engineering solutions.
Learning Outcomes
LO-1
Understand robot kinematics, the representation of the robot's position and orientation.
LO-2
Understand the concept of robot dynamics and how it relates to robot movement.
LO-3
Understand the concept of path and trajectory planning for robots.
LO-4
Understand the principles of robot control and programming.
LO-5
Understand the working principles of robot sensors.
LO-6
Understand the working principles of robot actuators, including DC motors, servo motors, stepper motors, and pneumatic and hydraulic actuators.
LO-7
Perform robot control and programming using a programming language and an industrial robot platform.
