Course Outline (F2019)
ELE719: Fundamentals of Robotics
|Instructor(s)||Y. C. Chen [Coordinator]|
Phone: (416) 979-5000 x 6090
Office Hours: Tue 1-2pm, Fri 1:30-2:30pm
|Calendar Description||This course provides a comprehensive treatment on the fundamentals of robotic manipulators and mobile robots. Topics include: homogeneous transformations, the Denavit-Hartenberg representation of linkages, solution of the forward kinematics problem. Closed-form and numerical solutions of the inverse kinematics problem. Differential kinematics and motion, Jacobian matrix, singularities. Kinematic and dynamic model of mobile robots. Path planning, trajectory planning and motion control for mobile robots.
|Prerequisites||ELE 639 or MEC 709|
- ELE719 Laboratory Manual, F2019 Edition, Y.C. Chen. Available through D2L.
- Robotics: Modelling, Planning and Control, B. Siciliano, et al., Springer-Verlag, 2009. Also available online through Ryerson Library.
|Learning Objectives (Indicators) |
At the end of this course, the successful student will be able to:
- Develop kinematics models for mobile robots and robotics manipulators, develop dynamics model for mobile robots. (1b)
- Interconnect electrical engineering and control engineering concepts to solve control problem for mobile robots. (1c)
- Identify singular configurations for robotic manipulators. (2a)
- Design motion controllers for mobile robots. (4b)
NOTE:Numbers in parentheses refer to the graduate attributes required by the Canadian Engineering Accreditation Board (CEAB).
3.0 hours of lecture per week for 13 weeks
2.0 hours of lab/tutorial per week for 12 weeks
|Teaching Assistants||Min Adhikari, email@example.com|
Somayeh Barzegar, firstname.lastname@example.org
|Midterm Exam|| 25 %|
|Final Exam (Theory Part)|| 40 %|
|Lab Experiments|| 25 %|
|Final Exam (Lab Part)|| 10 %|
Note: In order for a student to pass a course with "Theory and Laboratory" components, in addition to earning a minimum overall course mark of 50%, the student must pass the Laboratory and Theory portions separately by achieving a minimum of 50% in the combined Laboratory components and 50% in the combined Theory components. Please refer to the "Course Evaluation" section for details on the Theory and Laboratory components.
|Examinations||Midterm exam in approximately Week 7, two hours, closed-book, formula sheet provided.|
Final exam, during exam period, three hours, closed-book, formula sheet provided.
|Other Evaluation Information||None|
|Other Information||Lecture and laboratory schedules are tentative and subject to change. Consult D2L for updates.|
Automation and robots robot classification applications robot
Rigid Motion and Homogeneous Transformation
Rotation composite rotation translation composite translation
Wheeled Mobile Robots
Inverse and forward kinematics models dynamic model.
Motion Control for Mobile Robots
Localization, trajectory tracking and obstacle avoidance.
Forward Kinematics and the Denavit-Hartenberg Representation for Robotic Manipulators
Coordinate frames kinematic chains link and joint parameters the Denavit-Hartenberg (DH) representation the arm equation. Joint Space and Operational Space.
Inverse Kinematics for Robotic Manipulators
Solving the arm equation general properties of solutions kinematic
decoupling inverse position and inverse orientation problems.
Differential Kinematics and Differential Motion for Robotic Manipulators
Linear and angular velocities the manipulator Jacobian singularities
differential motion transform.
Introductory Python Programming
Inverse Kinematics and Simple motions
Forward Kinematics and Kinematics Control
Obstacle Avoidance Control
Simultaneous Localization and Mapping
Policies & Important Information:
- Students are required to obtain and maintain a Ryerson e-mail account for timely communications between the
instructor and the students;
- Any changes in the course outline, test dates, marking or evaluation will be discussed in class prior to being implemented;
- Assignments, projects, reports and other deadline-bound course assessment components handed in past the due date will receive a mark of ZERO, unless otherwise stated. Marking information will be made available at the time when such course assessment components are announced.
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Missed Classes and/or Evaluations
When possible, students are required to inform their instructors of any situation which arises during the semester which may have an adverse effect upon their academic performance, and must request any consideration and accommodation according to the relevant policies as far in advance as possible. Failure to do so may jeopardize any academic appeals.
- Health certificates - If a student misses the deadline for submitting an assignment, or the date of an exam or other evaluation component for health reasons, they should notify their instructor as soon as possible, and submit a Ryerson Student Health Certificate AND an Academic Consideration Request form within 3 working days of the missed date. Both documents are available at https://www.ryerson.ca/senate/forms/medical.pdf.. If you are a full-time or part-time degree student, then you submit your forms to your own program department or school;
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Suspicions of academic misconduct may be referred to the Academic Integrity Office (AIO). Students who are found to have committed academic misconduct will have a Disciplinary Notation (DN) placed on their academic record (not on their transcript) and will normally be assigned one or more of the following penalties:
- A grade reduction for the work, ranging up to an including a zero on the work (minimum penalty for graduate work is a zero on the work);
- A grade reduction in the course greater than a zero on the work. (Note that this penalty can only be applied to course components worth 10% or less, and any additional penalty cannot exceed 10% of the final course grade. Students must be given prior notice that such a penalty will be assigned (e.g. in the course outline or on the assignment handout);
- An F in the course;
- More serious penalties up to and including expulsion from the University.
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- Lecture notes
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