BSc: Introduction To Robotics

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Fundamentals of Robotics

  • Course name: Fundamentals of Robotics
  • Code discipline: R-01
  • Subject area:

Short Description

This course covers the following concepts: Robotics; Robotic components; Robotic control..

Prerequisites

Prerequisite subjects

Prerequisite topics

Course Topics

Course Sections and Topics
Section Topics within the section
Introduction to robotics
  1. Introduction to Robotics, History of Robotics
  2. Introduction to Drones
  3. Introduction to Self driving cars
  4. Programming of Industrial Robot
Kinematics
  1. Rigid body and Homogeneous transformation
  2. Direct Kinematics
  3. Inverse Kinematics
Differential kinematics
  1. Differential kinematics
  2. Geometric calibration
  3. Trajectory Planning
Dynamics
  1. Dynamics of Rigid body
  2. Lagrange approach
  3. Newton-Euler approach

Intended Learning Outcomes (ILOs)

What is the main purpose of this course?

This course is an introduction to the field of robotics. It covers the fundamentals of kinematics, dynamics, and control of robot manipulators, robotic vision, and sensing. The course deals with forward and inverse kinematics of serial chain manipulators, the manipulator Jacobian, force relations, dynamics, and control. It presents elementary principles on proximity, tactile, and force sensing, vision sensors, camera calibration, stereo construction, and motion detection. The course concludes with current applications of robotics in active perception, medical robotics, autonomous vehicles, and other areas.

ILOs defined at three levels

Level 1: What concepts should a student know/remember/explain?

By the end of the course, the students should be able to ...

  • Model the kinematics of robotic systems.
  • Compute end-effector position and orientation from joint angles of a robotic system.
  • Compute the joint angles of a robotic system to reach the desired end-effector position and orientation.
  • Compute the linear and angular velocities of the end-effector of a robotic system from the joint angle velocities.
  • Convert a robot’s workspace to its configuration space and represent obstacles in the configuration space.
  • Compute valid path in a configuration space with motion planning algorithms.
  • Apply the generated motion path to the robotic system to generate a proper motion trajectory.
  • Apply the learned knowledge to several robotic systems: including robotic manipulators, humanoid robots.

Level 2: What basic practical skills should a student be able to perform?

By the end of the course, the students should be able to ...

  • Name various applications of robots
  • Describe the current and potential economic and societal impacts of robot technology
  • Use the Jacobian to transform velocities and forces from joint space to operational space
  • Determine the singularities of a robot manipulator
  • Formulate the dynamic equations of a robot manipulator in joint space and in Cartesian space
  • List the major design parameters for robot manipulators and mobile robots
  • List the typical sensing and actuation methods used in robots
  • Analyze the workspace of a robot manipulator
  • List the special requirements of haptic devices and medical robots
  • Effectively communicate research results

Level 3: What complex comprehensive skills should a student be able to apply in real-life scenarios?

By the end of the course, the students should be able to ...

  • Describe rigid body motions using positions, orientations, frames, and mappings
  • Describe orientations using Euler angles, fixed angles, and quaternions
  • Develop the forward kinematic equations for an articulated manipulator
  • Describe the position and orientations of a robot in terms of joint space, Cartesian space, and operational space
  • Develop the Jacobian for a specific manipulator
  • Determine the singularities of a robot manipulator
  • Write the dynamic equations of a robot manipulator using the Lagrangian Formulation
  • Analyze the workspace of a robot manipulator

Grading

Course grading range

Grade Range Description of performance
A. Excellent 92-100 -
B. Good 80-91 -
C. Satisfactory 65-79 -
D. Poor/Fail 0-59 -

Course activities and grading breakdown

Activity Type Percentage of the overall course grade
Weekly quizzes 20
Home assignments 20
Project 20
Midterm Exam 20
Final Exam 20

Recommendations for students on how to succeed in the course

Resources, literature and reference materials

Open access resources

  • Siciliano, Sciavicco, Villani, and Oriolo, Robotics: Modeling, Planning and Control, Springe

Closed access resources

Software and tools used within the course

Teaching Methodology: Methods, techniques, & activities

Activities and Teaching Methods

Activities within each section
Learning Activities Section 1 Section 2 Section 3 Section 4
Development of individual parts of software product code 1 1 1 1
Homework and group projects 1 1 1 1
Midterm evaluation 1 1 1 1
Testing (written or computer based) 1 1 1 1
Discussions 1 1 1 1

Formative Assessment and Course Activities

Ongoing performance assessment

Section 1

Activity Type Content Is Graded?
Question What is the difference between the manipulator arm and manipulator wrist 1
Question What is Node in ROS 1
Question What are the disadvantages of ROS 1
Question Write sensors which are used in self driving cars. 1
Question Describe the classical approach for deign self driving car 1
Question Advantages and drawbacks of robotic manipulators 0
Question Programming industrial robots 0
Question Developing self driving car 0
Question Drones and controllers for them 0

Section 2

Activity Type Content Is Graded?
Question Properties of Rotation Matrix 1
Question How to find Euler angles from rotation matrix 1
Question How to compute rotation matrix from knowing Euler angles 1
Question How to derive equations for direct kinematic problem 1
Question How to solve inverse kinematics problem 1
Question Structure, properties, and advantages of Homogeneous transformation 0
Question Expression for rotation around an arbitrary axis 0
Question Euler angles 0
Question Difference between Joint and Operational spaces 0
Question Direct kinematics for serial kinematic chain 0
Question Piper approach for inverse kinematics 0

Section 3

Activity Type Content Is Graded?
Question Write the matrix of differential transformation 1
Question What is Jacobian matrix 1
Question Difference between parametric and non-parametric robot calibration. 1
Question Why we need complete and irreducible model 1
Question How trajectory planning is realised 1
Question What is trajectory junction 1
Question Jacobian matrix calculation 0
Question Jacobian matrices for typical serial manipulators 0
Question Robot calibration procedure 0
Question complete, irreducible geometric model 0
Question robot control strategies with offline errors compensation 0
Question Trajectory planning in joint and Cartesian spaces 0
Question Trajectory junction 0

Section 4

Activity Type Content Is Graded?
Question Energy of rigid body 1
Question Dynamics of rigid body 1
Question What is Direct and Inverse Dynamics 1
Question Difference between Newton Euler and Lagrange Euler approaches 1
Question Dynamics of rigid body 0
Question Direct and Inverse Dynamic 0
Question Newton-Euler Approach 0
Question Lagrange-Euler Approach 0

Final assessment

Section 1

  1. Typical commands for programming industrial manipulator motions
  2. Types of robots and their application ares
  3. Control of self driving car

Section 2

  1. Transformation between reference frames
  2. Find Euler angles for given orientation matrix and transformation order
  3. Transformation between Cartesian and operational spaces
  4. Direct kinematic for SCARA robot
  5. Inverse kinematic for SCARA robot

Section 3

  1. Write Jacobian for Polarrobot
  2. Advantages and disadvantages parametric and non-parametric robot calibration.
  3. complete, irreducible geometric model for spherical manipulator
  4. Compute the joint trajectory q(t) from q(0) = 1 to q(2) = 4 with null initial and final velocities and accelerations. (polynomial)
  5. Obtain manipulator trajectory for given manipulator kinematics, initial and final states and velocity and acceleration limits/

Section 4

  1. Solve inverse dynamics problem for Cartesian robot
  2. Solve direct dynamics problem for RRR spherical manipulator
  3. Moving frame approach for dynamics modelling

The retake exam

Section 1

Section 2

Section 3

Section 4