1. Course number and name: MEM703039 – Fundamentals of Robotics (+Lab)
2. Credit: 3 (Engineering
Topics), including 30 hours of lectures, 30 hours of lab, and 90 hours of
self-study; Required.
Contact Hours: 3 (Lecture: 2/week; Discussion & Examples: 1/week).
3. Instructor’s or course coordinator’s name: Ph.D. Huynh Ba Phuc.
4.
Textbook:
a. Required:
[1] Bruno Siciliano, Lorenzo Sciavicco,
Luigi Villani, and Giuseppe Oriolo (2009), Robotics - Modelling, planning and
control, Springer.
[2] Nguyễn Trường Thịnh (2014), Giáo trình
Kỹ thuật robot, Nhà xuất bản Đại học Quốc gia Thành phố Hồ Chí Minh.
b. Additional
Textbooks (Optional):
[3] Phạm Đăng Phước (2012), Robot công
nghiệp, Nhà xuất bản Xây dựng.
[4] Nguyễn Văn Khang (2011), Cơ sở robot
công nghiệp, Nhà xuất bản Giáo dục Việt Nam.
[5] Khổng Minh (2019), Giáo trình robot
công nghiệp, Nhà xuất bản Khoa học và kỹ thuật.
5. Specific course information:
a. Catalog description of
the content of the course:
This
course introduces fundamental concepts utilized in robotics and advanced topics
include kinematics, path and trajectory planning, motion control, and robot
architecture. Students will participate in a series of practical exercises over
the course, in which they will implement algorithms that involve each of the
topics discussed in class to real problems.
b. Prerequisites: Linear algebra (FFS703007), Physics 1
(FFS703013), Calculus (FFS703008).
6. Specific goals for the course:
a. Course Learning Outcomes and Relationship
to Student Outcomes:
|
At the end of the course,
students will be able to |
ABET SOs and PIs |
|
LO.01 – know fundamental
concepts utilized in robotics. |
1.1 |
|
LO.02 – apply
priciples of kinematics to modelize a specific robot. |
1.2 |
|
LO.03 – use MATLAB
and robot simulator to solve the advanced problems in robotics including
kinematics, path and trajectory planning, and motion control. |
1.3 |
|
LO.04 – divide work
and communicate with each other in the team to complete a specific project. |
5.2 |
b. Related Student Outcomes:
|
No. |
The graduates must have: |
|
1 |
an
ability to identify, formulate, and solve complex engineering problems
by applying principles of engineering, science, and mathematics |
|
5 |
an
ability to function effectively on a team whose members together provide
leadership, create a collaborative and inclusive environment, establish
goals, plan tasks, and meet objectives. |
7. Brief list of lecture topics to be covered:
|
Week |
Lecture topics |
|
1, 2 |
Start-up Quiz (15 minutes) Lesson 1: Fundamental concepts 1.1. Introduction to Robotics. 1.2. Mechanical structure of a
robot. 1.3. Kinematic pairs. 1.4. Topology of kinematic chains. 1.5. Workspace. 1.6. Actuators. 1.7. Sensors. 1.8. Robot performance. 1.9. Robot modeling, planning,
and control. 1.10. Preparing for Quiz 1. |
|
3, 4, 5 |
Quiz 1 Lesson 2: Kinematics 2.1. Pose of a rigid body. 2.2. Rotation matrix. 2.3. Euler angles. Exercise 1 2.4. Homogeneous transformations. Exercise 2 2.5 Joint space and Operational-space. 2.6. Direct kinematics. Exercise 3 2.7. Inverse kinematics. 2.8. Denavit–Hartenberg
kinematic parameters. 2.9. Kinematics of differential
drive robots. 2.10. Introduction to MATLAB:
matrix operations Exercise 4 2.11. Kinematics of the Hexa
parallel robot. Exercise 5 2.12. Kinematics of the 3RRR
planar parallel robot. Exercise 6 (The online course video is for internal circulation only) |
|
6, 7 |
Quiz 2 Lesson 3: Motion planning 3.1. Path and trajectory. 3.2. Trajectory in operational
space and joint space. 3.3. Definitions. 3.4. Point-to-point motion. 3.4.1. Polynomial time scaling. MATLAB scripts 3.4.2. Trapezoidal time scaling. MATLAB
scripts 3.5. Motion through a sequence
of Points. Exercise
7, 8, 9 3.6. Discussion of the Final Project. (The online course video is for internal circulation only) |
|
8, 9 |
Quiz 3 Lesson 4: Motion control 4.1. Linear control. 4.2. Nonlinear control. 4.3. Force control. 4.4. Force/position hybrid
control. Exercise 8 4.5. Discussion of the Final Project. (The online course video is for internal circulation only) |
|
10 |
Lesson 5: Robot architecture 5.1 Functional architecture. 5.2 Programming environment. 5.3 Hardware architecture. 5.4. Discussion of the Final Project. Final quiz (The online course video is for internal circulation only) |
|
11 to 15 |
No classes (Meeting with the
instructor for advice if needed) |
8. Brief
list of lab topics to be covered:
|
Week |
Lab topics |
|
1, 2 |
No labs (Meeting with the
instructor for advice if needed). |
|
3 |
Lab 1: Introduction to MATLAB
commands to support calculations in robots. Practice 1: Give the rotation
matrix that accomplishes specific rotations in the given order. Write a
MATLAB program to calculate it. Report 1. |
|
4 |
Lab 2: Discussion of Exercise 2. Practice 2: Homogeneous
transformation matrix. Write a MATLAB program to calculate it. Report 2. |
|
5 |
Lab 3: Discussion of Exercise 3. Practice 3: Derive the direct
kinematics of a manipulator. Write a MATLAB program to calculate it. Report 3. |
|
6 |
Lab 4: Discussion of Exercise 4. Practice 4: Derive the inverse
kinematic of the manipulator. Write a MATLAB program to calculate it. Report 4. |
|
7 |
Lab 5: Discussion of Exercise 5. Practice 5: Path and trajectory.
Write a MATLAB program to calculate it. Report 5. |
|
8 |
Lab 6: Discussion of Exercise 6. Practice 6: Point-to-point
motion. Write a MATLAB program to calculate it. Report 6. |
|
9 |
Lab 7: Discussion of Exercise 7. Practice 7: Motion through a
sequence of Points. Write a MATLAB program to calculate it. Report 7. |
|
10 |
Lab 8: Discussion of Exercise 8. Practice 8: Linear control.
Write a MATLAB program to calculate it. Report 8. |
|
11 |
Lab 9: Discussion of the Final Project Practice 9: Working on the Final
Project. |
|
12 |
Lab 10: Discussion of Final
project. Practice 10: Working on the Final
Project. Final report. |
|
13 to 15 |
No labs (Meeting with the
instructor for advice if needed). |
9. Evaluation:
Scale: 0 – 10.
· Final
score = CC1 (5%) + CC2 (5%) + Mid-term exam (30%) + Final exam (60%).
· CC1: Attendance (5%)
· CC2: Start-up quiz (2%) + Participate
in all 6 Quiz (3%).
· Mid-term exam: Quiz 1 (5%) + Quiz 2 (5%) + Report
1 (5%) + Report 2 (5%) + Report 3 (5%) + Report 4 (5%).
· Final exam: Quiz 3 (5%) + Final quiz (5%) + Report
5 (5%) + Report 6 (5%) + Report 7 (5%) + Report 8 (5%) + Final report (30%).
Students must pay attention to the deadlines of the assignments.
Detailed evaluation:
|
ASSIGNMENT |
RATING WEIGHT (%) |
|||
|
LO.01 |
LO.02 |
LO.03 |
LO.04 |
|
|
Quiz 1 |
40 |
60 |
0 |
0 |
|
Quiz 2 |
40 |
60 |
0 |
0 |
|
Quiz 3 |
40 |
60 |
0 |
0 |
|
Final quiz |
40 |
60 |
0 |
0 |
|
Report 1 |
30 |
0 |
70 |
0 |
|
Report 2 |
30 |
40 |
30 |
0 |
|
Report 3 |
30 |
40 |
30 |
0 |
|
Report 4 |
30 |
40 |
30 |
0 |
|
Report 5 |
30 |
40 |
30 |
0 |
|
Report 6 |
30 |
40 |
30 |
0 |
|
Report 7 |
30 |
40 |
30 |
0 |
|
Report 8 |
30 |
40 |
30 |
0 |
|
Final Report |
25 |
25 |
25 |
25 |
10. Contribution of
course to meeting the Professional Component:
Engineering Topics: 3 Credits (100%).
