MCE 464 - Introduction to Robotics (3-0-3)

Course Description (catalog): Gives an overview of robotics, robot coordinate systems, and
direct and inverse kinematics. Introduces manipulator dynamics and force control and
compliance. Includes robot sensors and control strategies, and requirement of digital control of
robots.
Prerequisite(s): MCE 328 Dynamic Systems
Textbook(s) and/or Other Required Materials:
Spong, M. W., Hutchinson, S., Vidyasagar, M., Robot Modeling and Control, 2006, John
Wiley & Sons.
Additional: Craig, J. J., Introduction to Robotics: Mechanics and Control, 3rd edition,
2005, Prentice
Course Goals: This course is designed to help the student:

Formulate the direct and inverse kinematics solutions.

Formulate the dynamics equations and control law of robotic systems.

Design motion planning algorithms of robotic systems.

Model and control simple electromechanical devices, suggest sensors, actuators and
algorithms for automated tasks
Course Outcomes: This course requires the student to demonstrate the ability to:
1. Derive direct kinematics and obtain degrees of freedom.
2. Formulate the inverse kinematics problem.
3. Derive equations of motion for a robotic systems using Lagrange principle.
4. Select actuators and sensors for the robot.
5. Design a motion path and obtain path parameters.
6. Design simple control algorithms.
Topics Covered and Schedule in Weeks:
To achieve the above goals, this course will cover the main topics of:
Introduction to robotic systems; Components, classification,
system requirements & Robotic manipulation notations.
Rigid Motions and Homogeneous Transformations
Direct kinematics
Inverse kinematics
Velocity kinematics
Path and Trajectory Planning
Independent Joint Control
Manipulator Dynamics

1
2
2
1
1
2
2
2

Robot control
Review and evaluation

2
1

Tentative Out-of-class Assignments and Dates:

HW # 1
HW # 2
HW # 3
HW # 4
HW # 5
HW # 6
HW # 7
HW # 8
HW # 9
HW # 10

Rotation and Transformations

Denavit-Hartenberg (DH) Tables
Manipulator Kinematics and Transformations
Inverse Kinematics
Jacobians: Velocities
Jacobians: Forces
Mobile Robot: Kinematics and Constraints
Manipulator Dynamics
Mobile Robot and Space Robot Dynamics
Robotics Control

Group Project
Policy:
Homework assignments must be submitted in class in the due date. No late homeworks
will be accepted.
If you are late to class more than 5 minutes, then you are not allowed to enter and attend
the class.

Evaluation:
Homework Assignments
Quizzes and attendance
Project
First Midterm Exam
Second Midterm Exam
Final Exam

7%
8%
15%
20%
20%
30%

Grade Distribution:
A
AB+
B
BC+
C
C-

> 90
> 85
>80
> 75
> 70
> 65
> 60
> 55

Estimated Content:
General education: 0 credits
Math and basic science: 1 credits
Engineering topics: 2 credits (significant engineering design content)

Relationship of Course to Program Outcomes. This course contributes in a significant way to

the accomplishment of the following program outcomes:
Program outcome
(a) an ability to apply knowledge of mathematics, science, and engineering
(b) an ability to design and conduct experiments, as well as to analyze and interpret data
(c) an ability to design a system, component, or process to meet desired needs within realistic
constraints such as economic, environmental, social, political, ethical, health and safety,
manufacturability, and sustainability
(d) an ability to function on multidisciplinary teams
(e) an ability to identify, formulate, and solve engineering problems
(f) an understanding of professional and ethical responsibility
(g) an ability to communicate effectively
(h) the broad education necessary to understand the impact of engineering solutions in a
global, economic, environmental, and societal context
(i) a recognition of the need for, and an ability to engage in life-long learning
(j) a knowledge of contemporary issues
(k) an ability to use the techniques, skills, and modern engineering tools necessary for
engineering practice.

Emphasis in
this course
H
M

Emphasis: H High; M Moderate; L Low; Blank Nothing specific expected

DM -Direct Measures

Policy:
Homework assignments must be submitted in class in the due date. No late homeworks
will be accepted.
If you are late to class more than 5 minutes, then you are not allowed to enter and attend
the class.
Academic Honesty:
Please do not embarrass yourself. You can discuss homework problems with each other
but each should turn his own work. Cheating will NOT be tolerated neither in homework
nor in exams.
Course Theme. Expect to work hard so you better enjoy doing that.
Current Instructor, Department, Office Hours and Date:
Dr. Mamoun F. Abdel-Hafez, Mechanical Engineering,

Room: EB2-221
Office Hours, UTR: 11:00 a.m 12:00 noon
Spring 2015 Semester