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Robotics (MCT 4215)

Lecture #1

Amir A Shafie
Department of Mechatronics Engineering
International Islamic University Malaysia

Outlines

Teaching Team
Lecture Hours
Textbook
Tentative Course Outline
Method of Evaluation
What I expect from you
Motivation

Teaching Team
Lecturer
Amir A Shafie
Room : Office of Industrial Links
Phone :ext 6320
E-mail : aashafie@iium.edu.my
Consultation Hours : Monday-Wednesday 3.30 5.30pm

Textbook
Required Textbook
Saeed B. Niku, Introduction to Robotics
Analysis, Systems, Application.

Recommended Textbook
1. Robert J. Schilling, Fundamentals of Robotics
Analysis & control.
2. John j. Craig, Introduction to Robotics Mechanics
and Control.
3. R K Mittal, I J Nagrath, Robotics and control
and
Hand Notes.

Learning Outcomes
Upon completion of the course students should be
able to:
Identify the structure of any robot, degrees of freedom,
type of joints, sensors and actuators attached and the robot
workspace.
Analyze the forward and inverse kinematics using
Denavit-Hartenberg representation
Formulate the robot Jacobian and apply it to control the
robot motion.
Formulate the equations of motion of any robot using
Lagrange Equation.
Develop the robot trajectory either in joint space or

Programme Learning
Outcome (PO)
PO

Tentative Course
Outline
Fundamentals: Introduction, history of robotics, Robot
components, robot degrees-of-freedom, robot joints, robot
coordinates and work space, robot reference, Robot

Actuators: Introduction, characteristics of actuating

Systems, comparison of actuating systems, hydraulic
devices, pneumatic devices, electric motors.
Sensors: Introduction, sensor characteristics, position
sensors, velocity sensors, acceleration sensors, force and
pressure sensors, torque sensors.

Tentative Course
Outline
Robot

kinematics

and

Position

Analysis:

Introduction,
matrix
representation,
homogeneous
transformation matrices, inverse of transformation matrices,
Denavit-Hartenberg representation, the inverse kinematic
solution of robots.
Differential Motions and Velocities: Differential
relationships, Jacobian, differential motion of a frame,
interpretation of differential change, Differential motion of a
robot and its hand frame, calculation of Jacobian, inverse
Jacobian.

Tentative Course
Outline
Dynamic Analysis and Forces: Lagrange mechanics: A
short overview, effective moment of inertia, dynamic equations
for multiple-degree-of-freedom robots, Static force analysis.
Transformation of forces and moments between coordinate
frames.
Trajectory Planning: Introduction, path vs. trajectory, joint
space vs. Cartesian space, basics of trajectory planning, joint
space trajectory planning, Cartesian space trajectory planning.

Evaluation Method
Method

Number

Marks

Quiz
Quiz

3~5

15%

Assignment

3~5

10%

Project
Midterm
Final Exam

10%
(31-03-2015)

25%
40%

Motivation

Why do we study Robotics?

Motivation
What is the Mechatronics?

Motivation
The Robot System
Kinematics
Hardware
(Mechanical Design)

Dynamics

Actuators

Software

Sensors

Control System

Motivation

Because you are students of

mechatronics engineering.