8/9/2019 00 Robotics Lec00

1/14

Robotics (MCT 4215)

Lecture #1

Administrative Topics

Amir A ShafeDepartment o Mechatronics EngineeringInternational Islamic University Malaysia

8/9/2019 00 Robotics Lec00

2/14

Outlines

Teaching Team

Lecture Hours Textbook

Tentative Course Outline

Method of Evaluation What I expect from ou

Motivation

8/9/2019 00 Robotics Lec00

3/14

Lecturer

Amir A Shafe

Room : !!ice o! "ndustria Lin$s%&one :e't 2*

+,mai : aas&a!ie-iium.edu.m/Consutation 0ours : Monda/,ednesda/ .* 5.*pm

Teaching Team

8/9/2019 00 Robotics Lec00

4/14

!e"uired Textbook#aeed $% &iku' Introduction to !obotics

(nalsis' #stems' (pplication%

!ecommended Textbook)% !obert *% #chilling' +undamentals of !obotics

(nalsis , control%

-% *ohn .% Craig' Introduction to !obotics Mechanicsand Control%

/% ! 0 Mittal' I * &agrath' !obotics and control

and

Hand &otes%

Textbook

8/9/2019 00 Robotics Lec00

5/14

Learning Outcomes

1pon completion of the course students should beable to2Identif the structure of an robot' degrees of freedom'

tpe of .oints' sensors and actuators attached and the robot

3orkspace%

(nal4e the for3ard and inverse kinematics using

5enavit6Hartenberg representation

+ormulate the robot *acobian and appl it to control the

robot motion%+ormulate the e"uations of motion of an robot using

Lagrange E"uation%

5evelop the robot tra.ector either in .oint space or

Cartesian space for specified tasks%

8/9/2019 00 Robotics Lec00

6/14

7rogramme LearningOutcome 87O9

7O

http://../PO's.dochttp://../PO's.doc

8/9/2019 00 Robotics Lec00

7/14

Tentative CourseOutline

+undamentals2 "ntroduction3 &istor/ o! robotics3 Robotcomponents3 robot derees,o!,!reedom3 robot oints3 robot

coordinates and 6or$ space3 robot re!erence3 Robot

appications3 advantaes and disadvantaes o! robots

(ctuators2 "ntroduction3 c&aracteristics o! actuatin7/stems3 comparison o! actuatin s/stems3 &/drauic

devices3 pneumatic devices3 eectric motors.

#ensors2 "ntroduction3 sensor c&aracteristics3 positionsensors3 veocit/ sensors3 acceeration sensors3 !orce and

pressure sensors3 tor8ue sensors.

8/9/2019 00 Robotics Lec00

8/14

Tentative CourseOutline

!obot kinematics and 7osition (nalsis2"ntroduction3 matri' representation3 &omoeneous

trans!ormation matrices3 inverse o! trans!ormation matrices3

9enavit,0artenber representation3 t&e inverse $inematic

soution o! robots.5ifferential Motions and :elocities2 9i!!erentiareations&ips3 acobian3 di!!erentia motion o! a !rame3

interpretation o! di!!erentia c&ane3 9i!!erentia motion o! a

robot and its &and !rame3 cacuation o! acobian3 inverseacobian.

8/9/2019 00 Robotics Lec00

9/14

Tentative CourseOutline

5namic (nalsis and +orces2 Larane mec&anics: As&ort overvie63 e!!ective moment o! inertia3 d/namic e8uations

!or mutipe,deree,o!,!reedom robots3 7tatic !orce ana/sis.

Trans!ormation o! !orces and moments bet6een coordinate

!rames.Tra.ector 7lanning2 "ntroduction3 pat& vs. traector/3 ointspace vs. Cartesian space3 basics o! traector/ pannin3 oint

space traector/ pannin3 Cartesian space traector/ pannin.

8/9/2019 00 Robotics Lec00

10/14

Evaluation Method

;ui4

Method &umber Marks

;ui< =5 15>

Assinment =5 1*>

%roect 1*>

Midterm (1,*,2*15) 25>

?ina +'am 4*>

8/9/2019 00 Robotics Lec00

11/14

Motivation

Why do we study !obotics?

8/9/2019 00 Robotics Lec00

12/14

Motivation

&at is t&e Mec&atronics@

8/9/2019 00 Robotics Lec00

13/14

Motivation

Contro 7/stem

7ensors

inematics

9/namics

Tas$ %annin

7o!t6are

0ard6are

(Mec&anica 9esin)

T&e Robot 7/stem

Actuators

8/9/2019 00 Robotics Lec00

14/14

Motivation

Because you are students omechatronics engineering.