EE437 Introduction to Robotics

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Course Code Course Title Weekly Hours* ECTS Weekly Class Schedule
Prerequisite It is a prerequisite to


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Course Objectives This course is intended to discuss topics in robotics systems. The emphasis will be put on applied concepts and generic solutions in the robotics systems analysis (kinematics and dynamics) and control system design. The emphasis will be on mobile robots analysis and control with possible extension to functionaly related systems: robot cooperation, swarrm ... The concepts of control will discussed in the framework of SISO and MIMO systems. The introductory discussion on the functionlly related systems and haptics will be discussed as well. Students will be asked to complete a semester-long project oriented towards the realization of a robotic system and its control. Due to the expectation that the course will be taken by students with very different backgrounds (EE, ME, CS, SE) the lectures will be covering only basic ideas but sufficient reading material will be provided for more interested students.
Textbook Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza, Introduction to Autonomous Mobile Robots, second edition ISBN 978-0-262-01535-6 (hardcover : alk. paper) 1 John J. Craig, Introduction to Robotics - Mechanics and Control, Third Edition, Pearson Educatipn, London, 2005, ISBN 0-13-123629-6 Bruno Siciliano, Lorenzo Sciavicco, Luigi Villiani, Guiseppe Orilo: Robotics (Modelling, Planning and Control) , 2009 Springer Verlag Limited, London, ISBN 978-1-84628-642-4, e-ISBN 978-1-84628-642-1, DOI 10.1007/978-1-84628-642-1 Support Textbooks: Asif Šabanović and Kouhei Ohnishi, Motion Control Systems, IEEE Press, John Willey & Sons (Asia) Pte Ltd, 2011, ISBN978-0-470-82573-0 V.I. Utkin, J. Guldner and J. Shi: Sliding Mode Control in Electromechanical Systems, Taylor and Francis, 1999
Additional Literature
Learning Outcomes After successful  completion of the course, the student will be able to:
    Teaching Methods Class discussions with examples. Team project for students in small teams that include design, realization, and control of a robot. The teamwork will be emphasized and grading will mostly depend on the project with interim grades depending on written project reports.
    Teaching Method Delivery Teaching Method Delivery Notes
    Week 1 Practical Information, Content of the Course Ch 1
    Week 2 System Modeling Fundamentals Handout (Šabanovic Ch 1)
    Week 3 System Control Fundamentals Handout (Šabanovic Ch 2)
    Week 4 Kinematics _ Rigid Systems Ch 2
    Week 5 Kinematics of Mobile Robots Illah_Ch 3, Kelly 2.4, 2.5
    Week 6 Mobile Robots II Illah_Ch 3, Kelly 2.4, 2.5
    Week 7 Robotics - Perception Sensors Illah_Ch4 Sec. 4.1, Handout
    Week 8 Robotics - Actuators. MIDTERM EXAM Handout
    Week 9 Robots and Obstacles, Potential Fields Handout
    Week 10 Rigid Robots, kinematics, dynamics, control Ch 6-8, Handout
    Week 11 Interactions in Robotic Systems-Haptics Ch 9, Handout
    Week 12 Soft Robotics Handout
    Week 13 Robotics Applications I Handout
    Week 14 Robotics Applications II Handout
    Week 15 Answers to Students' Questions
    Assessment Methods and Criteria Evaluation Tool Quantity Weight Alignment with LOs
    Final Exam/Project Presentation 1 40
    Semester Evaluation Compenents
    Homework/Project Progress Reports 4 30
    Midterm /Oral Progress Report 1 30
    ***     ECTS Credit Calculation     ***
     Activity Hours Weeks Student Workload Hours Activity Hours Weeks Student Workload Hours
    Lecture hours 3 14 42 Assignments 5 8 40
    Home study 2 14 28 In-term exam study 20 1 20
    Final exam study 20 1 20
            Total Workload Hours =
    *T= Teaching, P= Practice ECTS Credit =
    Course Academic Quality Assurance: Semester Student Survey Last Update Date: 06/11/2020
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