Simon Fraser University
Engaging the World

Course Outlines

Summer 2024 - MSE 429 D100

Advanced Kinematics for Robotic System (3)

Class Number: 1897

Delivery Method: In Person

Overview

  • Course Times + Location:

    May 6 – Aug 2, 2024: Wed, 9:30 a.m.–12:20 p.m.
    Surrey

  • Prerequisites:

    MSE 222 and minimum of 80 units.

Description

CALENDAR DESCRIPTION:

Introduction to kinematics of robot manipulators (serial and parallel). Serial: Forward and inverse kinematics for manipulators with spherical and non-spherical wrists. Parallel: Loop-closure equations and methods for solving polynomial systems. Trajectory generation: Joint and Cartesian spaces. Jacobians, velocity and static force analyses, singularities (kinematic, static and architectural). Introduction to dynamics. Students with credit for MSE 490 - Advanced Kinematics for Robotic Systems (Fall 2016) cannot take MSE 429 for further credit. ENSC students declared as Systems Option majors may not take this course.

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:

At the end of this course, the successful student will be able to:

  • Develop kinematics models for mobile robots and robotics manipulators, develop dynamics model for mobile robots.
  • Identify singular configurations for robotic manipulators.
  • Design path-planning algorithms.
  • Formulate the robot’s equations of motion (forward and inverse dynamics)
  • Derive and compute the robot’s kinematics (forward, velocity, and inverse)
  • Design and generate trajectories of motion (in both joint and task space)
  • Develop and implement various controllers (in both joint and task space)

Grading

  • Assignments 20%
  • Term Exam 1 25%
  • Team Projects 20%
  • Term Exam 2 35%

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 a task (a task could be, for instance, completing 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 (>50%) 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 & Control
                        
                            
                    
                  

RECOMMENDED READING:

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

Pearson, 2018.
ISBN: 9780133489866

Registrar Notes:

ACADEMIC INTEGRITY: YOUR WORK, YOUR SUCCESS

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