Course Outline (F2019)

ELE719: Fundamentals of Robotics

Instructor(s)Y. C. Chen [Coordinator]
Office: ENG458
Phone: (416) 979-5000 x 6090
Email: yaochen@ryerson.ca
Office Hours: Tue 1-2pm, Fri 1:30-2:30pm
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




Compulsory Text(s):
  1. ELE719 Laboratory Manual, F2019 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 Ryerson Library.
Learning Objectives (Indicators)  

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

  1. Develop kinematics models for mobile robots and robotics manipulators, develop dynamics model for mobile robots. (1b)
  2. Interconnect electrical engineering and control engineering concepts to solve control problem for mobile robots. (1c)
  3. Identify singular configurations for robotic manipulators. (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/tutorial per week for 12 weeks

Teaching AssistantsMin Adhikari, minprasad.adhikari@ryersno.ca
 Somayeh Barzegar, sbarzegar@ryerson.ca
Course Evaluation
Midterm Exam 25 %
Final Exam (Theory Part) 40 %
Lab Experiments 25 %
Final Exam (Lab Part) 10 %
TOTAL:100 %

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.

ExaminationsMidterm 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 InformationNone
Other InformationLecture and laboratory schedules are tentative and subject to change.  Consult D2L for updates.

Course Content



Chapters /

Topic, description




 Automation and robots robot classification applications robot



2.1-2.5 2.7

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



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.



3.1-3.3 3.6

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

Laboratory/Tutorials/Activity Schedule





Lab 1

Introductory Python Programming


Tutorial 1



Lab 2

Inverse Kinematics and Simple motions


Lab 3

Forward Kinematics and Kinematics Control


Tutorial 2



Lab 4

Obstacle Avoidance Control


Lab 5

Simultaneous Localization and Mapping


Tutorial 3


Policies & Important Information:

  1. Students are required to obtain and maintain a Ryerson e-mail account for timely communications between the instructor and the students;
  2. Any changes in the course outline, test dates, marking or evaluation will be discussed in class prior to being implemented;
  3. 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.
  4. Refer to our Departmental FAQ page for information on common questions and issues at the following link: https://www.ee.ryerson.ca/guides/Student.Academic.FAQ.html.

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.

  1. 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;
  2. Religious, Aboriginal and Spiritual observance - If a student needs accommodation because of religious, Aboriginal or spiritual observance, they must submit a Request for Accommodation of Student Religious, Aboriginal and Spiritual Observance AND an Academic Consideration Request form within the first 2 weeks of the class or, for a final examination, within 2 weeks of the posting of the examination schedule. If the requested absence occurs within the first 2 weeks of classes, or the dates are not known well in advance as they are linked to other conditions, these forms should be submitted with as much lead time as possible in advance of the absence. Both documents are available at www.ryerson.ca/senate/forms/relobservforminstr.pdf. If you are a full-time or part-time degree student, then you submit the forms to your own program department or school;
  3. Academic Accommodation Support - Before the first graded work is due, students registered with the Academic Accommodation Support office (AAS - www.ryerson.ca/studentlearningsupport/academic-accommodation-support) should provide their instructors with an Academic Accommodation letter that describes their academic accommodation plan.

Academic Integrity

Ryerson's Policy 60 (the Academic Integrity policy) applies to all students at the University. Forms of academic misconduct include plagiarism, cheating, supplying false information to the University, and other acts. The most common form of academic misconduct is plagiarism - a serious academic offence, with potentially severe penalties and other consequences. It is expected, therefore, that all examinations and work submitted for evaluation and course credit will be the product of each student's individual effort (or an authorized group of students). Submitting the same work for credit to more than one course, without instructor approval, can also be considered a form of plagiarism.

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:

  1. 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);
  2. 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);
  3. An F in the course;
  4. More serious penalties up to and including expulsion from the University.

The unauthorized use of intellectual property of others, including your professor, for distribution, sale, or profit is expressly prohibited, in accordance with Policy 60 (Sections 2.8 and 2.10). Intellectual property includes, but is not limited to:

  1. Slides
  2. Lecture notes
  3. Presentation materials used in and outside of class
  4. Lab manuals
  5. Course packs
  6. Exams

For more detailed information on these issues, please refer to the Academic Integrity policy(https://www.ryerson.ca/senate/policies/pol60.pdf) and to the Academic Integrity Office website (https://www.ryerson.ca/academicintegrity/).

Important Resources Available at Ryerson

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  2. Student Learning Support(https://www.ryerson.ca/studentlearningsupport) offers group-based and individual help with writing, math, study skills and transition support, and other issues.