Course Plan

ME 639 - Introduction to Robotics

IIT Gandhinagar
23 July 2021

Schedule: Instructor: Class Link:

2:05pm on Monday Prof. Harish Palanthandalam-Madapusi MS Teams Link
1:05pm on Tuesday & (Address as Harish/HPM) Direct-Join Code:
2:05pm on Thursday harish@iitgn.ac.in ​2pl73bc

Engagement: Evaluations:
1. Class Discussions 1. Assignments
2. Refresher Concept Capsules 2. Quizzes
3. Skill Workshops 3. 3 Projects
4. 1 Mini Project 4. Take-home exam
5. 1 Guided Hardware Project
6. 1 Open-ended Project

Emphasis on:
1. Key Concepts for design, analysis and control of robotic manipulators
2. Ability to use simulations effectively to analyze and visualize robotic manipulators
3. Exposure to hardware implementation
4. Brief exposure to other areas of robotics including mobile robots & aerial vehicles
5. Project-based learning

Requirements:
1. Computer with Matlab & C
2. Desire to get hands dirty and learn new skills

Honour Code & Collaboration Policy: Collaboration is not permitted on assignments and tasks
unless explicitly mentioned. All submitted material must be your own material.

Course Textbook:
Spong, M, and Vidyasagar, M, Robot Dynamics and Control. Wiley, 2008 - Indian Edition.

Other References:
1. Siciliano, Bruno, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. Robotics: modelling,
planning and control. Springer Science & Business Media, 2010.
2. Nise, N., Control Systems Engineering, Wiley - India Edition.
3. Control Tutorials for Matlab and Simulink

Approved List of Topics:

Introduction to Robotics Fundamentals | Rigid Body Motion - Rotation, Translation, and
Homogeneous Transformation | Kinematic Chains | Denavit-Hartenberg Representation | Forward
Kinematics | Kinematic Decoupling | Inverse Kinematics | Velocity Kinematics | Manipulator
Jacobian and Singularities | Dynamics - Euler Lagrange Formulation | Independent Joint Control |
Trajectory and Motion Planning | Multivariable Control | Force Control - Stiffness and Compliance,
and Impedance Control | Feedback Linearization

Office Hours:
3:00pm Thursdays (same MS Teams link)
Tentative Weekly Plan

Week 1 - Simple Robot Miniproject (2R manipulator)

Week 2 - Robotics Roadmap | Hardware Roadmap | Hardware Essentials | Kinematics Background

Week 3 - Forward Kinematics | Rotation matrices and transformation

Week 4 - Manipulator Jacobian | Workspace

Week 5 - Inverse Kinematics | Trajectory Planning

Week 6 - Dynamics - Task Space & Joint Space

Week 7 - DH Convention | Review

Week 8 - Controls Basics

Week 9 - Project Presentations | Hardware

Week 10 - Robot Control Approaches (Independent joint control | Computed Torque Control)

Week 11 - Robot Control Approaches (Inverse Dynamics | Feedback Linearization)

Week 12 - Advanced Combined Force-motion Control

Week 13 - Parallel Manipulators | Mobile Robots | Aerial Robots

Week 14 - Project presentations | Review

1 Miniproject - Week 1

1 Guided Hardware Project - Weeks 7 - 11 (tentative)

1 Open-ended Project - Starting Week 3 or 4 and running through the semester (tentative)