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

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)

Mr. Sajjad (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

Laboratory Plan
Domain & PLOs,
CLOs Description
Measurable

Level Level
Outcomes
Learning

Use modern tools and test equipment to assemble/model Psychomotor, PLO2

CLO1 different types of robotic systems and measure their Three High
performance.

Grading Policy  Lab Sessions: 70-80% CLO1

  Semester Project: 20-30% CLO1

Laboratories Topics CLOs

Assembling a Robot using Robix-Robot Development
1 Kit and Exploration of its Work Envelope
CLO1
Programming a Robot using Robix-Robot Development
2 Kit and Execution of the Assigned Task
CLO1
Assembling a Biped Strider using Robix-Robotic
3 Development Kit
CLO1
Programming the Biped Strider using Robix-Robotic
4 Development Kit
CLO1
Assembling a Draw-Robot using Robix-Robotic
5 Development Kit to write on a plane
CLO1
Programming a Draw-Robot using Robix-Robotic
Development Kit to
6  Draw a Star
CLO1
 Write your first name in block capitals
Developing a Three-legged Walking Robot using Robix-
7 Robotic Development Kit and Programming its Motion.
CLO1
Installation of Robotics Toolbox for Matlab and
8 Performing the First Simulation for a Differential Wheel CLO1
Mobile Robot
Implementing Forward Kinematics approach on a 2-DOF
manipulator using graphical method.
9 Implementing forward Kinematics on a 3-link cylindrical
CLO1
manipulator using D-H parameters.
Forward kinematics of multi-link manipulator by
10 changing joint angles continuously.
CLO1
Implementation of inverse kinematics model of 3-DOF
articulated robotic arm
11 Inverse kinematics of multi-link manipulator by changing
CLO1
end-effector position continuously.
A semester project will be assigned to the student-groups
to encompass the topics covered in the semester. A few
examples are this project can be:
1. Implementation of different navigation schemes
Semester in a multitude of different scenarios for mobile
CLO1
Project robotic systems
2. Development of mobile robots to exhibit different
behaviors e.g. navigation, foraging, predator,
prey, aggregation, etc.
3. Impedance control of three-link manipulator