Simon Fraser University
Engaging the World

Course Outlines

Summer 2023 - MSE 893 G100

Special Topics I (3)

Adv Kin of Robotics Sys

Class Number: 1546

Delivery Method: In Person

Overview

  • Course Times + Location:

    May 8 – Aug 4, 2023: Mon, 8:30–9:20 a.m.
    Surrey

    May 8 – Aug 4, 2023: Thu, 8:30–10:20 a.m.
    Surrey

Description

COURSE DETAILS:

This course provides a comprehensive treatment on the fundamentals of robotic manipulators and mobile robots. Topics include homogeneous transformations, the Denavit-Hartenberg representation of linkages, solution of the forward kinematics problem. Closed form and numerical solutions of the inverse kinematics problem. Differential kinematics and motion, Jacobian matrix, singularities. Kinematic and dynamic model of mobile robots. Path planning, trajectory planning and motion control for mobile robots.

COURSE-LEVEL EDUCATIONAL GOALS:

This course provides a comprehensive treatment on the fundamentals of robotic manipulators and mobile robots. Topics include homogeneous transformations, the Denavit-Hartenberg representation of linkages, solution of the forward kinematics problem. Closed form and numerical solutions of the inverse kinematics problem. Differential kinematics and motion, Jacobian matrix, singularities. Kinematic and dynamic model of mobile robots. Path planning, trajectory planning and motion control for mobile robots.

Grading

  • Assignments 20%
  • Term Exam 1 25%
  • Individual Projects 30%
  • Term Exam 2 25%

NOTES:

Proiects:

The project assignment’s primary goal is encouraging students to develop a complete robot manipulator that moves chess pieces. In MSE 429 project, students work in teams to analyze the kinematics and generate the trajectory of a manipulator of their choice to complete the first 10 moves of a chess game [1]. The selected manipulator mechanism should have at least 3DOF. Different components of the selected manipulator should be designed in SolidWorks [2]. Then, parts will be transferred into Matlab so that the position and orientation of each link could be manipulated. A template code will be provided to start from. The project deliverable comprises of four phases, that is:

  • Phase 1: Introduction, design specification, and forward kinematics
  • Phase 2: Inverse kinematics, workspace analysis, and kinematic reconstruction.
  • Phase 3: Path generation, trajectory generation, and animation
  • Phase 4: Jacobian, velocity and static force analysis, dynamics, and simulation

[1] A list of most famous chess openings can be found here.

[2] CAD models of the chessboard and the pieces will be provided.

REQUIREMENTS:

Students must get a passing grade (>55%) for the average of the two term exam components to be eligible to pass the course. Note that given there is no final exam for this course, the MSE re-exam rule does not apply here in case of failing.

Materials

MATERIALS + SUPPLIES:

Schedule of Course Topics

                                                     
Week 1: Introduction to Kinematics
Week 2: Spatial Descriptions
Week 3 - 5: Serial Manipulators: Forward and  Inverse Kinematics         
Week 6: Parallel Manipulators: Forward and Inverse Kinematics
Week 7: Trajectory Generation
Week 8  - 9: Serial and Parallel Manipulators: Velocity, Static Force Analysis, Singularities
Week 11 - 12: Introduction to Dynamics
                        
                            
                    
                  

RECOMMENDED READING:

Introduction to Robotics: Mechanics and Control,
John J. Craig
4th Edition

Pearson, 2018.

REQUIRED READING NOTES:

Your personalized Course Material list, including digital and physical textbooks, are available through the SFU Bookstore website by simply entering your Computing ID at: shop.sfu.ca/course-materials/my-personalized-course-materials.

Graduate Studies Notes:

Important dates and deadlines for graduate students are found here: http://www.sfu.ca/dean-gradstudies/current/important_dates/guidelines.html. The deadline to drop a course with a 100% refund is the end of week 2. The deadline to drop with no notation on your transcript is the end of week 3.

Registrar Notes:

ACADEMIC INTEGRITY: YOUR WORK, YOUR SUCCESS

SFU’s Academic Integrity website http://www.sfu.ca/students/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

RELIGIOUS ACCOMMODATION

Students with a faith background who may need accommodations during the semester are encouraged to assess their needs as soon as possible and review the Multifaith religious accommodations website. The page outlines ways they begin working toward an accommodation and ensure solutions can be reached in a timely fashion.