Robotics (MCT 4215


Lecture #1
Administrative Topics

Amir A Shafie
Department of Mechatronics Engineering
International Islamic University Malaysia

Outlines • • • • • • • Teaching Team Lecture Hours Textbook Tentative Course Outline Method of Evaluation What I expect from you Motivation .

30pm .my Consultation Hours : Monday-Wednesday 3.Teaching Team Lecturer Amir A Shafie Room : Office of Industrial Links Phone :ext 6320 E-mail : aashafie@iium.30 –

. Systems. R K Mittal. Introduction to Robotics Mechanics and Control. Schilling. Robotics and control and Hand Notes. Introduction to Robotics Analysis. Robert J. Niku. 2. Craig. 3. John j.Textbook Required Textbook Saeed B. Fundamentals of Robotics Analysis & control. Recommended Textbook 1. Application. I J Nagrath.

. sensors and actuators attached and the robot workspace. type of joints.Learning Outcomes Upon completion of the course students should be able to: Identify the structure of any robot. degrees of freedom. Analyze the forward and inverse kinematics using Denavit-Hartenberg representation Formulate the robot Jacobian and apply it to control the robot motion. Formulate the equations of motion of any robot using Lagrange Equation. Develop the robot trajectory either in joint space or Cartesian space for specified tasks.

Programme Learning Outcome (PO) PO .

Tentative Course Outline Fundamentals: Introduction. characteristics of actuating Systems. electric motors. history of robotics. advantages and disadvantages of robots Actuators: Introduction. robot degrees-of-freedom. acceleration sensors. robot reference. . robot joints. hydraulic devices. robot coordinates and work space. Robot applications. sensor characteristics. Sensors: Introduction. Robot components. comparison of actuating systems. position sensors. force and pressure sensors. torque sensors. pneumatic devices. velocity sensors.

Jacobian. . Differential motion of a robot and its hand frame. matrix representation. the inverse kinematic solution of robots. inverse of transformation matrices. Denavit-Hartenberg representation. interpretation of differential change. inverse Jacobian. differential motion of a frame. calculation of Jacobian. homogeneous transformation matrices. Differential Motions and Velocities: Differential relationships.Tentative Course Outline Robot kinematics and Position Analysis: Introduction.

effective moment of inertia. Trajectory Planning: Introduction. joint space vs. . dynamic equations for multiple-degree-of-freedom robots. joint space trajectory planning. basics of trajectory planning.Tentative Course Outline Dynamic Analysis and Forces: Lagrange mechanics: A short overview. Cartesian space. trajectory. Static force analysis. path vs. Cartesian space trajectory planning. Transformation of forces and moments between coordinate frames.

Evaluation Method Method Number Marks Quiz Quiz 3~5 15% Assignment 3~5 10% Project Midterm Final Exam 10% (31-03-2015) 25% 40% .

Motivation Why do we study Robotics? .

Motivation What is the Mechatronics? .

Motivation The Robot System Kinematics Hardware (Mechanical Design) Dynamics Task Planning Actuators Software Sensors Control System .

Motivation Because you are students of mechatronics engineering. .