Course Outline (W2020)

ELE819: Control of Robotic Manipulators

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 deals with motion and force control and visual servoing of robotic manipulators. Topics include: Dynamics: Euler-Lagrange and Newton-Euler formulations. Path and trajectory planning. Motion and interaction control of robotic manipulators. Visual servoing for robotic manipulators.




Compulsory Text(s):
  1. ELE819 Course Slides, Y. C. Chen. Available through D2L Brightspace.
  2. ELE819 Laboratory Manual, W2020 Edition, Y.C. Chen. Available through D2L Brightspace.
Reference Text(s):
  1. Robotics: Modelling, Planning and Control, B. Siciliano, et al., Springer-Verlag, 2009. Available online through Ryerson Library.
Learning Objectives (Indicators)  

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

  1. Develop mathematical models to describe the dynamics for robotic manipulators and use them to design control systems for robotic manipulators. (1b)
  2. Interconnect electrical engineering, computer engineering and mechanical engineering concepts to solve control problems for robotic manipulators. (1c)
  3. Propose improved mathematical models to simplify and to address nonlinearity in the control problem for robotic manipulators. (2b)
  4. Design motion and force controllers for robotic manipulators. (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
1.0 hours of lab/tutorial per week for 12 weeks

Teaching AssistantsTBA
Course Evaluation
Midterm Test 25 %
Final Exam 40 %
Lab Work 35 %
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 InformationStudents must pass (obtain 50% or higher) in BOTH the theory and lab parts in order to obtain a passing grade for the course.
Other InformationNone

Course Content



Chapters /

Topic, description



 Types of control problems for robotic manipulators.
 (Sections 8.1 9.1)



Path and Trajectory Panning
 Path and Trajectory joint space trajectory planning operational space
 trajectory planning.
 (Sections 4.2-4.3)



Dynamic Models for Robotic Manipulators
 Euler-Lagrange and Newton-Euler formulations.
 (Sections 7.1-7.3 7.5)



Dynamic Parameter Identification
 (Section 7.4)



Motion Control
 Independent joint control computed torque control robust control adaptive control. Operational space control.
 (Sections 8.1-8.7)



Interaction Control
 Compliance control impedance control force control hybrid force/motion control.
 (Sections 9.1-9.7)



Visual Servoing
 Image processing position-based servoing image-based visual servoing.

Laboratory/Tutorials/Activity Schedule






Forward and Inverse Kinematics



Problem Set 1



Gravity Compensation



Problem Set 2



PD with Gravity Compensation



Problem Set 3



Inverse Dynamics Control



Operational Space Inverse Dynamic Control

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
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  6. Exams

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