TORONTO METROPOLITAN UNIVERSITY

Course Outline (F2023)

ELE719: Fundamentals of Robotics

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 DescriptionThis 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.
PrerequisitesELE 639 or MEC 709
Antirequisites

None

Corerequisites

None

Compulsory Text(s):
  1. ELE719 Laboratory Manual, F2023 Edition, Y.C. Chen. Available through D2L.
Reference Text(s):
  1. Robotics: Modelling, Planning and Control, B. Siciliano, et al., Springer-Verlag, 2009. Also available online through TMU Library.
Learning Objectives (Indicators)  

At the end of this course, the successful student will be able to:

  1. Develop both kinematics models for mobile robots and robotics manipulators, develop dynamics models for mobile robots. (1b)
  2. Interconnect electrical and control engineering concepts to solve control problem for mobile robots. (1c)
  3. Probabilistic localization for mobile robots. (2a)
  4. Design motion controllers for mobile robots. (4b)

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
2.0 hours of lab per week for 12 weeks
0.0 hours of tutorial per week for 12 weeks

Teaching AssistantsFor Sections 012, 042, 052: Somayeh Barzegar, sbarzegar@ryerson.ca
 For Sections 022, 032: Sara Salamat, sara.salamat@ryerson.ca
 
Course Evaluation
Theory
Mid-Term Exam 25 %
Final Exam (Theory Part) 40 %
Laboratory
Lab Experiments 25 %
Final Exam (Lab Part) 10 %
TOTAL:100 %

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).


ExaminationsMid-Term exam will be announced on D2L. Final exam will be held during exam period.
Other Evaluation InformationNone
Other InformationLecture 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.

Course Content

Week

Hours

Chapters /
Section

Topic, description

1

1

1.1-1.4

Introduction:
 Automation and robots, robot classification, applications, robot
 specifications.
 


1-3

6

2.1-2.5 2.7

Rigid Motion and Homogeneous Transformation:
 Rotation, composite rotation, translation, composite translation,
 homogeneous transform.
 


3-5

6

Wheeled Mobile Robots:
 Inverse and forward kinematics models, dynamic model.
 


5-7

6

Motion Control for Mobile Robots:
 Localization, trajectory tracking and obstacle avoidance.
 


7-9

6

2.8-2.10

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.
 


9-11

6

2.12

Inverse Kinematics for Robotic Manipulators:
 Solving the arm equation, general properties of solutions, kinematic
 decoupling, inverse position and inverse orientation problems.
 


11-13

6

3.1-3.3 3.6

Differential Kinematics and Differential Motion for Robotic Manipulators:
 Linear and angular velocities the manipulator, geometric Jacobian, singularities,
 differential motion transform.
 


Laboratory(L)/Tutorials(T)/Activity(A) Schedule

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
 (No lab or tutorial in Week 6)

8-9

Lab 3

Forward Kinematics and Kinematics Control

10

Turotial 2

Tutorial

11-12

Lab 4

Obstacle Avoidance Control

13

Tutorial 3

Tutorial

University Policies

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

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