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Robotics is an interdisciplinary subject concerning areas of mechanics, electronics, information theory, control systems and automation. This course provides an introduction to robotics and covers fundamental aspects of modeling and control of robot manipulators. Topics include history and application of robotics in industry, rigid body kinematics, manipulator forward, inverse and differential kinematics, workspace, singularity, redundancy, manipulator dynamics, trajectory generation, actuators, sensors, and manipulator position and contact force control strategies. Applications studied using MATLAB/Simulink software simulation and laboratory experiments. This course builds on material related to control in ELEC 443.

Course Learning Outcomes (CLOs)
  • Describe the position and linear velocity of a point object or the orientation of a rigid body with respect to different coordinate frames in different coordinate frames.
  • Be able to completely model the kinematics of a multi-degree of mobility industrial robot, including frame assignments, forward kinematic equations and inverse kinematic solutions.
  • Be able to find linear and angular velocity of all linkages in multi-degree of mobility industrial robot, find the robot geometric Jacobian, and analyze its singularity.
  • Be able to model the dynamics of a multi-degree of mobility industrial robot.
  • Be able to design independent linear and computed torque nonlinear position controllers for a multi-degree of mobility industrial robot.
  • Learn the concept of force control and two different methodologies for simple robots.
  • Be able to model kinematics and dynamics of a multi-degree of mobility manipulator, and design and evaluate position controllers in MATLAB/Simulink environment.
  • Be able to design trajectory generators for path planning for multi-degree of mobility robots.
  • Hands-on-experience with pick-an-place operations in a simple industry-like laboratory setting.
  • Hands-on-experience with servomotor control systems including DC motor, position and angular velocity sensors, and data acquisition and real-time control systems.
  • Learn how to mathematically model a servomotor system, how to design PD controller in Simulink to meet required specifications, and to experimentally implement the controller.
  • Learn how to mathematically model a single link manipulator (arm) with flexibility in its joint or in its link, design and implement a controller to dampen arm vibrations using full state feedback, and compare the performance if full or partial state feedback is used.
Credit Breakdown

Lecture: 3
Lab: 0.5
Tutorial: 0

Academic Unit Breakdown

Mathematics 0
Natural Sciences 0
Complementary Studies 0
Engineering Science 16
Engineering Design 26

COREQUISITE(S): ELEC 443 or MTHE 332 (MATH 332) or MECH 350