Birzeit University

Mechatronics Engineering Department

ROBOTICS ENMC 532
2nd Semester 2014/2015
Course Outline
Schedule: S,M,W 09:00-09:50, ENG307
Instructor: Dr. Nidal Farhat, Office 323/2, Tel 2982115, nfarhat@birzeit.edu
Course description:
Classification of robots. Robotic systems: actuators, sensors, and transmission
elements. Description of object location and orientation. Kinematics of manipulator
position: joints, links, coordinate frames, rotation matrices, and homogeneous
transformation. Direct and inverse kinematics. Kinematics of manipulator motion;
velocity, acceleration, differential motion, Jacobian. Trajectory generation. Static:
compliance, inserting a peg into a hole. Dynamics: Lagrange formulations, NewtonEuler recursive formulations. Control: linear and nonlinear methods, position and
force control methods. Programming languages. Prerequisites: ENME 332 and ENME
438
Objectives:
Introduce the student to the fundamentals of robotics. Which includes: position
analysis (transformations in 3D), manipulator kinematics, inverse kinematic problems
(Jacobian transformation), dynamic analysis and forces, and trajectory generation.
Intended Learning Outcomes:
Recognize the different types of spatial rotations about fixed and moving axes
and obtain the rotation/translation matrix in a systematic way.
Solve manipulator direct and inverse kinematics.
Solve velocity and static and dynamic force relations basing on the Jacobian
matrix.
Design the trajectory of the end effector of the manipulator to accomplish
general conditions.
This course is intended to cover the following ABET outcomes:
(c) An ability to design a system, component, or process to meet desired needs.
(e) An ability to identify, formulate, and solve engineering problems
(k) An ability to use the techniques, skills, and modern engineering tools
necessary for engineering practice.
Textbook:
Introduction to Robotics, Mechanics and Control. J.J. Craig. 3rd Ed. 2004.
Reference:
Foundations of Robotics. T. Yoshikawa. 1990.
Assessment Criteria
Activity
First Exam
Second Exam

Percent (%)
20
20
1

Project
Quizzes
Final Exam

15
5
40

Course content
Week
1
2&3
4&5&6
7
7&8&9
10 & 11 & 12
13
13 & 14
15 & 16
16

Subject
Introduction
Spatial description and transformations
Manipulator kinematics
FIRST EXAM
Inverse manipulator kinematics
Jacobian, velocities and static forces
SECOND EXAM
Manipulator dynamics
Trajectory generation
FINAL EXAM