FEE EE442 Introduction to Robotics (3 CH)

Pre-Requisite: EE351(Linear Control Systems)

Instructor: Dr. Adnan Noor
Office # G-15 FEE, GIK Institute, Ext. 2288
Email: adnannoor@giki.edu.pk
Office Hours: Mon -Thu 14:00-15:00

Course Introduction

This Course develops the fundamentals understanding of Robotics. Major aim of the course is to develop an
understanding of Robot Forward and Inverse Kinematics, Velocity Kinematics, Frames of reference and coordinat
transformations, Trajectory Planning, and Robot control.

Course Contents
 Basics: Basics of Industrial Robots , Degrees of Freedom, work space consideration
 Coordinate Systems and Transformations: Frame of references, Rotation matrices, exponential coordinates
 Forward Kinematics: Kinematic Chains, Denavit‐Hartenberg Convention.
 Velocity Kinematics: Angular velocities, Linear Velocities, Jacobian.
 Inverse Kinematics: Inverse position, Inverse Orientation.
 Trajectory Planning: Configuration space, Obstacles, Path Planning
 Robot Control and Programming: Sensors, actuators, Control strategies, introduction to robot programming.

Mapping of CLOs and PLOs

Sr. No Course Learning Outcomes PLOs
Blooms Taxonomy
Be able to solve forward kinematics (including velocity Cognitive Level 3
CLO-1 kinematics) problems in Robotics. PLO-2 (Applying)
Be able to solve reverse kinematics problems in Cognitive Level 3
CLO-2 Robotics. PLO-2 (Applying)
Be able to solve motion planning and control related Cognitive Level 3
CLO-3 problems in Robotics. PLO-2 (Applying)
CLO Assessment Mechanism (Tentative)
CLO-1 CLO-2 CLO-3
30%
Quizzes 20% 20%
45% 45% 0%
Midterm Exam
70%
Final 35% 35%

Overall Grading Policy

Assessment tools Weightage
Quizzes 20%
Assignments 10%
Midterm Exam 30%
Final Exam 40%
Computer Usage
 Students are encouraged to solve some assigned homework problems using the available engineering software,
such as MATLAB , GNU OCTAVE (Open Source)
 Text and Reference Books
* Robot Modeling and Control, 2nd Edition by M. W. Spong, S. Hutchinson, and M. Vidyasagar; Wiley, 2020
* Introduction to Robotics 4th Edition by J. J. craig ; Pearson, 2018

Administrative Instructions
 According to institute policy, 80% attendance is mandatory to appear in the final examination.
 Assignments must be submitted as per instructions mentioned in the assignments.
 In any case, there will be no retake of (scheduled/surprise) quizzes.
 For queries, kindly follow the office hours in order to avoid any inconvenience.