MCT-351: Introduction to Robotics

Monday: 8:00 a.m. – 9:25 a.m.

(Sec-B), 10:50 a.m. – 12:05
p.m. (Sec-D), 10:50 a.m. –
12:05 p.m. (Sec-C)
Tuesday: 8:00 a.m. – 9:25 p.m.
(Sec-D), 10:50 a.m. – 12:05
Lecture p.m. (Sec-B), 10:50 a.m. – Course Type, Fundamental Engineering,
Schedule 12:05 p.m. (Sec-A) Semester Sixth
Wednesday: 9:25 a.m.— 10:50
a.m. (Sec-C), 10:50 a.m.—
12:05 p.m. (Sec-A)

Note: See time table for the

venues of lecture

Credit
Three + One Pre-requisite Linear Algebra
Hours

m.ahsan@uet.edu.pk
Dr. Muhammad Ahsan
Instructor Contact mariaakram86@gmail.com
Ms. Maria Akram

Simulation Lab, first floor, Schedule will be posted outside the

Office Office Hours
MCE Department office

Monday 1:00 p.m. – 4 p.m. (Sec-A)

?? (Electrical)
Teaching Lab Thursday 1:00 a.m. – 4 p.m. (Sec-B)
Ms. Misbah Iqbal
Assistant Schedule Thursday 9:00 a.m. – noon (Sec-D)
(Mechatronics)
Friday 9:00 a.m. – noon (Sec-C)

An introductory course provides foundational understanding of robotic systems

including robotic manipulators to mobile robots. Both the algorithmic as well as the
Course
developmental aspects of robotics fall within its scope. From an overview of robotics
Description
and its applications in practice, the contents will cover systems’ modeling based on
kinematics, sensors, actuators, controllers and motion planning.

Domain PLOs,
CLOs Description
& Level Level
Measurable Learning Outcomes

Explain the necessary ingredients of robotic systems ranging Cognitive, PLO1

CLO1
from basic to the state-of-the-art. Two Medium

Solve the kinematics (both forward and reverse) of robotic Cognitive, PLO2
CLO2
manipulators. Three High

Apply navigation schemes to mobile robotic systems including Cognitive, PLO2

CLO3
ground and aerial robots. Three High

Apply various sensing and actuations techniques in the Cognitive, PLO1

CLO4
development of robotic systems. Three High
 REQUIRED:
1. Introduction to Robotics: Mechanics and Control, 3rd Edition, by John J. Craig,
Pearson Education International
2. Robotics, Vision and Control: Fundamental Algorithms in MATLAB, by Peter
Corke, Springer
Textbooks
OPTIONAL:
1. M.W. Spong and M. Vidyasagar. Robot Dynamics and Control. John Wiley &
Sons
2. Introduction to Autonomous Mobile Robots by Roland Siegwart and Illah R.
Nourbakhsh, A Bradford Book, MIT Press
3. Probabilistic Robotics, by S. Thrun, W. Burgard and D. Fox, MIT Press

Grading  Quizzes + Assignments: 30% CLO1, CLO2, CLO3, CLO4

Policy vis-  Midterm: 30% CLO1 & CLO2
à-vis CLO  Final: 40% CLO1, CLO3 & CLO4
Mapping

Lecture Plan
Week Topics CLOs
Introduction, History and Future Directions, Necessary
1 CLO1
Ingredients of Robotic Systems
2 The 8 Problems of Robotic Manipulators CLO2
3 Representations and Homogeneous Transformations CLO2
4 Robot Arm Kinematics: Forward Kinematics CLO2
5 Robot Arm Kinematics: Inverse Kinematics and Trajectories CLO2
6 Velocity and Acceleration Kinematics CLO2
7 Application of Manipulator Kinematics CLO2
8 State-of-the-art in Robotics CLO1
9 Midterms CLO1 & CLO2
10 Sensors for Robotics Applications CLO4
11 Actuators for Robotics Applications CLO4
12 Mobile Robotic Systems: Wheeled Robots CLO3
13 Mobile Robotic Systems: Aerial Robots CLO3
14 Time and Motion: Time Varying Coordinate Frames CLO3
15 Robot Navigation: Reactive Approach CLO3
16 Robot Navigation: Path Planning CLO3
17 Localization and Mapping CLO3
18 Endterm
CLO3 & CLO4
19 Endterm