Simon Fraser University
Engaging the World

Course Outlines

Spring 2018 - ENSC 488 D100

Introduction to Robotics (4)

Class Number: 2462

Delivery Method: In Person

Overview

  • Course Times + Location:

    Jan 3 – Apr 10, 2018: Tue, Thu, 10:30 a.m.–12:20 p.m.
    Burnaby

  • Exam Times + Location:

    Apr 18, 2018
    Wed, 12:00–3:00 p.m.
    Burnaby

  • Prerequisites:

    (ENSC 230 or ENSC 386) and (ENSC 383 or MSE 381) and 80 units.

Description

CALENDAR DESCRIPTION:

Fundamentals of robotics: mathematical representation of kinematics, dynamics and compliance. Planning and execution of robot trajectories. Feedback from the environment: use of sensors and machine vision. A brief introduction to robot languages. Different application domains for manipulator robots, e.g., assembly, manufacturing, etc.

COURSE DETAILS:

Topics

Week 1-3

  • Introduction- Basic Terminologies and Overview of Topics
  • Mechanical topologies and designs of robot Manipulators
  • Basics of OpenGL
  • Overview of 2D mechanics

Week 3-5

  • Mathematical Representation of 3D Rigid Body Motion
  • Homogeneous transformations
  • Relative transformations
  • Transformation equations
  • Various representations of orientation

Week 5-7

  • Kinematics of Robot Manipulator
  • Serial and parallel manipulators
  • DH notation
  • Forward and inverse kinematics
  • Closed-form and numerical iterative solutions

Week 7-9

  • Differential Motion and Static Analysis
  • Linear and angular velocity of rigid bodies
  • Differential relationship (Jacobian)
  • Static force analysis

Week 9-13

  • Robot Manipulator System
  • Trajectory generation
  • Manipulator dynamics
  • Forward and inverse dynamic models
  • Control strategies for robot manipulator


Grading

  • Assignments 10%
  • Individual Programming Assignments 10%
  • Midterm 20%
  • Final 40%
  • Group Project 20%

Materials

REQUIRED READING:

Introduction to Robotics, by: John J. Craig

Computer Graphics Through OpenGL: From Theory to Experiments, by: Sumanta Guha

Registrar Notes:

SFU’s Academic Integrity web site http://students.sfu.ca/academicintegrity.html is filled with information on what is meant by academic dishonesty, where you can find resources to help with your studies and the consequences of cheating.  Check out the site for more information and videos that help explain the issues in plain English.

Each student is responsible for his or her conduct as it affects the University community.  Academic dishonesty, in whatever form, is ultimately destructive of the values of the University. Furthermore, it is unfair and discouraging to the majority of students who pursue their studies honestly. Scholarly integrity is required of all members of the University. http://www.sfu.ca/policies/gazette/student/s10-01.html

ACADEMIC INTEGRITY: YOUR WORK, YOUR SUCCESS