**Module Code**: ZA-2203

**Module Title**: Robotic Systems

**Type of Module**: Major Core for Bachelor of Digital Science Major in Artificial Intelligence and Robotics

**Modular Credits**: 4MC

## Prerequisite:

- ZZ-1101 Mathematical Methods for the Sciences or equivalent knowledge of mathematics
- ZZ-1102 Programming Fundamentals or equivalent programming knowledge

## Anti-requisite:

None

## Description

This module introduces to the students the basics of modelling and control of robot systems and train them to develop planning and control software modules for robots like manipulators. (Module Outlines)

## Lecturers:

- Dr Ong Wee Hong, weehong.ong@ubd.edu.bn, Office: APB 2.43
- Dr Ajaz Ahmad Bhat, ajaz.bhat@ubd.edu.bn, Office: APB 2.48

## Class times:

Two 2hrs sessions per week for 14 weeks.

## Assessments:

- Examination 30%
- Coursework 70% – one class test (10%), two assignments (10% each), one lab test (15%), one project (25%)

## References:

- (Textbook) Kevin M. Lynch and Frank C. Park, “Modern Robotics: Mechanics, Planning, and Control“, Cambridge University Press, 2017, ISBN 9781107156302 (Video lectures)
- Mark W. Spong, Seth Hutchinson, M. Vidyasagar, “Robot Modeling and Control, 2nd Edition”, Wiley, ISBN: 978-1-119-52404-5
- Peter Corke, “Robotics, Vision and Control Fundamental Algorithms in Matlab, 2nd Edition”, Springer, ISBN: 978-3-319-54412-0
- Richar M. Murray, Zexiang Li, S. Shankar Sastry, “A Mathematical Introduction to Robotic Manipulation”, Taylor & Francis, ISBN: 978-0-8493-7981-9
- John J. Craig, “Introduction to Robotics: Mechanics and Control, Third Edition”, Pearson, ISBN: 978-1-292-04004-2
- CS223A – Introduction to Robotics by Professor Oussama Khatib at Stanford University
- QUT Robot Academy video lectures by Professor Peter Corke at Queensland University of Technology

**Acknowledgement**: I have made extensive reference and utilized materials from the above resources, as well as other online content, to prepare my course materials. In particular, most of the materials are copied from the Modern Robotics.

## Course schedule:

Weeks 1-7 are taught by Dr Ong Wee Hong, weeks 9-15 are taught by Dr Ajaz Ahmad Bhat.

Week | Session 1 (2 hrs) | Session 2 (2 hrs) | Notes |
---|---|---|---|

1 | L1 Introduction, L2 Configuration Space | L2 Configuration Space | |

2 | L3 Rigid Body Motions | L3 Rigid Body Motions | |

3 | Tutorial 1: C-Spaces, Tutorial 2: Rigid Body Motions | L4 Forward Kinematics | |

4 | L4 Forward Kinematics | Tutorial 3: Forward Kinematics | |

5 | L5 Velocity Kinematics | L6 Inverse Kinematics | Assignment 1 Out |

6 | L6 Inverse Kinematics, Tutorial 4: Velocity Kinematics | Tutorial 5: Inverse Kinematics | |

7 | Class Test (L1-L6) | Assignment 1 Due | |

8 | Mid Semester Break | ||

9 | Lab 1: Robotic Systems Simulation and Middleware | Lab 2: Webots and Transformation | |

10 | Lab 3: RTB: Forward Kinematics | Lab 4: RTB: Inverse Kinematics | Project Out |

11 | L7 Dynamics of Rigid Bodies, Task-Space Dynamics | L7 Dynamics of Rigid Bodies, Task-Space Dynamics | |

12 | Tutorial 5: Dynamics | Lab 5: Dynamics | Assignment 2 Out |

13 | Lab Test (Lab 1 – Lab 5) | L8 Trajectory Generation | |

14 | L9 Control Theory, Feedback and Force Control | Tutorial 6: Control Theory | Assignment 2 Due |

15 | L10 Alternative Approaches to Optimal Control | Lab 6: Control Theory and Trajectory Planning | Project Due |

16 | Revision Week | ||

17-18 | Examination Week |

## Course materials:

### Lectures:

- L1 Introduction, Robotic Fields & Applications
- Introduction
- What is a Robot?
- Properties of Robots
- Components of Robots
- Challenges in Robotics
- Applications of Robots
- Types of Robots
- Robotics in SDS

- L2 Configuration Space
- Actions, actuator, effector, end-effector
- Describing motion
- Configuration of a robotic system
- Configuration space (CS)
- CS Dimension: Degree of freedom (DoF)
- CS Topology
- CS Representation: explicit, implicit

- Holonomic, nonholonomic constraints
- Workspace: dexterous, reachable
- Task space

- L3 Rigid Body Motions
- Coordinate systems
- Describing position
- Describing orientation
- Describing motion: translation and rotation
- More on orientation and rotation
- Describing pose (configuration)
- Describing displacement (transformation)
- Describing velocities (screw theory)

- L4 Forward Kinematics
- Kinematics vs dynamics
- Forward kinematics vs inverse kinematics
- Forward kinematics computation
- Power of Exponential (PoE) to compute forward kinematics in base form
- PoE in body form

- L5 Velocity Kinematics
- Velocity kinematics
- Jacobian
- Singularities
- Manipulability ellipsoid
- Spatial Jacobian

- L6 Inverse Kinematics
- Approaches in inverse kinematics
- Analytical IK for 2R planar robot: geometry
- Analytical IK for 2R planar robot: algebra
- Analytical IK for 6R Puma robot
- Numerical IK: Newton-Raphson method for numerical IK

- L7 Dynamics of Rigid Bodies, Task-Space Dynamics
- L8 Trajectory Generation
- L9 Control Theory, Feedback and Force Control
- L10 Alternative Approaches to Optimal Control

### Tutorials:

- Tutorial 1: Configuration Spaces (solution)
- Tutorial 2: Rigid Body Motions (solution)
- Tutorial 3: Forward Kinematics (solution)
- Tutorial 4: Velocity Kinematics (solution)
- Tutorial 5: Inverse Kinematics (solution)
- Tutorial 6: Dynamics
- Tutorial 7: Control Theory

### Labs:

- Lab 1: Robotic Systems Simulation and Middleware
- Lab 2: Webots and Transformations
- Lab 3: Robotic Tool Box (RTB): Forward Kinematics
- Lab 4: RTB: Inverse Kinematics
- Lab 5: Dynamics
- Lab 6: Control Theory and Trajectory Planning

### Assessments:

- Assignment 1 (L1-L6)
- Assignment 2 (L7-L10)
- Class Test (L1-L6)
- Lab Test (Lab 1 – Lab 5)
- Project
- Examination (L1-L10)