| Instructor(s) | Dr. Y. C. Chen [Coordinator] Office: ENG458 Phone: (416) 979-5000 x 556090 Email: yaochen@torontomu.ca Office Hours: Refer to D2L | 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 | ||||||||||||||
| Antirequisites | None | ||||||||||||||
| Corerequisites | None | ||||||||||||||
| Compulsory Text(s): |
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| Reference Text(s): |
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| Learning Objectives (Indicators) | At the end of this course, the successful student will be able to:
NOTE:Numbers in parentheses refer to the graduate attributes required by the Canadian Engineering Accreditation Board (CEAB). | ||||||||||||||
| Course Organization | 3.0 hours of lecture per week for 13 weeks | ||||||||||||||
| Teaching Assistants | For Sections 012, 042, 052: Somayeh Barzegar, sbarzegar@ryerson.ca For Sections 022, 032: Sara Salamat, sara.salamat@ryerson.ca | ||||||||||||||
| Course Evaluation |
Note: In order for a student to pass a course, a minimum overall course mark of 50% must be obtained. In addition, for courses that have both "Theory and Laboratory" components, 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 above for details on the Theory and Laboratory components (if applicable). | ||||||||||||||
| Examinations | Mid-Term exam will be announced on D2L. Final exam will be held during exam period. | ||||||||||||||
| Other Evaluation Information | None | ||||||||||||||
| Other Information | Lecture and laboratory schedules are tentative and subject to change. Consult D2L for updates. Laboratory work requires the use of a Linux virtual machine that runs on Windows OS. See the Laboratory Manual on hardware and software requirements. | ||||||||||||||
Week | Hours | Chapters / | Topic, description |
|---|---|---|---|
1 | 1 | 1.1-1.4 | Introduction: |
1-3 | 6 | 2.1-2.5 2.7 | Rigid Motion and Homogeneous Transformation: |
3-5 | 6 | Wheeled Mobile Robots: | |
5-7 | 6 | Motion Control for Mobile Robots: | |
7-9 | 6 | 2.8-2.10 | Forward Kinematics and the Denavit-Hartenberg Representation for Robotic Manipulators: |
9-11 | 6 | 2.12 | Inverse Kinematics for Robotic Manipulators: |
11-13 | 6 | 3.1-3.3 3.6 | Differential Kinematics and Differential Motion for Robotic Manipulators: |
Week | L/T/A | Description |
|---|---|---|
2-3 | Lab 1 | Introductory Python Programming |
4 | Tutorial 1 | Tutorial |
5,7 | Lab 2 | Inverse Kinematics and Simple motions |
8-9 | Lab 3 | Forward Kinematics and Kinematics Control |
10 | Turotial 2 | Tutorial |
11-12 | Lab 4 | Obstacle Avoidance Control |
13 | Tutorial 3 | Tutorial |
Students are reminded that they are required to adhere to all relevant university policies found in their online course shell in D2L and/or on the Senate website
You can submit an Academic Consideration Request when an extenuating circumstance has occurred that has significantly impacted your ability to fulfill an academic requirement. You may always visit the Senate website and select the blue radio button on the top right hand side entitled: Academic Consideration Request (ACR) to submit this request.
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