# Summer 2023 - MSE 893 G100

## 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

• #### Instructor:

Ramtin Rakhsha
rrakhsha@sfu.ca
1 778 782-9254

## 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.

• 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

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

Pearson, 2018.

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.

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.