Cise 5300 syllabus_f16
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This 3-sentence summary provides the essential information about the document: The document describes the course description for the Fundamentals of Robotics course at Tennessee State University, including the course objectives, topics, schedule, textbooks, assignments, policies, and instructor information. The principal objective is to teach students the fundamental principles of robotics, with an emphasis on mathematical models of robot kinematics, dynamics, motion, control, and applications. The course will cover topics such as coordinate systems, manipulator kinematics, mobile robot kinematics, differential motion, dynamics, task planning, and localization over a 15-week semester.
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Cise 5300 syllabus_f16
- 1. 1 TENNESSEE STATE UNIVERSITY COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING COURSE DESCRIPTION OF CISE-5300 FUNDAMENTALS OF ROBOTICS SEMESTER: Fall 2016 INSTRUCTOR: Dr. Saleh Zein-Sabatto A. CATALOG COURSE DESCRIPTION CISE-5300 - FUNDAMENTALS OF ROBOTICS (3). Two-dimensional and three-dimensional transformation techniques, manipulator kinematics and dynamics, robot differential motion and control, path planning and trajectory generation, task execution and robot programming will be discussed in details. Robot integration and simulation tools also will be presented. Prerequisite: ENGR 5100. B. PREREQUISITE AND CO-REQUISITE The prerequisite for this course is a grade of C or better in ENGR-5100 (or an equivalent course). If you do not meet the prerequisite, you must seek permission from the Instructor of the course. C. COURSE OBJECTIVES The principal objective of this course is to teach students the fundamental of robotics and its fields of applications. The emphasis of the course will be on the mathematical principles behind the design, control and operations of robots. Both mobile robots and robot manipulators will be considered. Transformation operations relating positions and orientations in different coordinate frames will be presented. Kinematics and dynamics models will be established. Implementation of these models in robots motion, controls and operations, i.e., trajectory planning, mapping and localization will be explained throughout the course. D. COMPETENCIES 1. Ability to derive transformation matrices between coordinate frames for robot operations. 2. Ability to derive kinematics model for n-degree of freedom (DOF) robots. 3. Ability to derive dynamic model for n-DOF robots and establish its control loops. 4. Ability to design simple simulation of robotics tasks and implement it on real hardware. 5. Ability to understand the principle of robotics software,programming and control. E. DETAIL COURSE OUTLINE Topic No. Weeks 1.0 OVERVIEW OF ROBOT MANIPULATORS 1 a. Types of Robots and Robotics Applications b. Components of Robots c. Manipulation vs. Locomotion 2.0 COORDINATE SYSTEMS 2 a. Cartesian Coordinates b. Two and Three dimensional Transformations
- 2. 2 c. General Rotations and Translations d. Coordinate Frames and Homogeneous Coordinates 3.0 KINEMATICS OF MANIPULATORS 2 a. Relations between Links and Joints b. Assignment of Coordinate Frames c. Forward Kinematics Model d. Inverse Kinematics model 4.0 KINEMATICS OF MOBILE ROBOTOS 2 a. Wheels Kinematics models b. Mobile Robot Kinematics Constraints c. Mobile Robot Maneuverability d. Mobile Robot Workspace 5.0 DIFFERENTIAL MOTION AND THE JACOBIAN 2 a. Differential Relationships b. Differential Motion of Frames c. The Jacobian Matrix d. The Inverse Jacobian 5. DYNAMICS OF ROBOTS 2 a. Deriving the Kinetics Equations b. Forces and Torques c. Using Kinetics Models in Robot Controls 6. TASK AND TRAJECTORY PLANNING 2 a. Path vs. Trajectory b. Manipulator Trajectory Planning c. Navigation and Path Planning d. Navigation Architectures 7. ROBOT LOCALIZATION AND MAPPING 1 a. Localization and Sensor Errors b. Localization and Odometry Estimation c. Map Representation d. Map-Based Localization F. GENERAL INFORMATION Textbook: Introduction to Robotics, by Saeed B. Niku. Prentice Hall, 2nd Edition 2011. Autonomous Mobile Robot, by Roland Siegwart, The MIT Press, 2nd Edition 2011. References: 1. Intro to Robotics Mechanics and Control, John Crage,Pearson Prentice Hall, 2005 2. Intro to Robotics, Phillip J. McKerrow,Addison Wesley, 1991 3. Introduction to Robotics, by John J. Crage. Addison Wesley, 1991. 4. Introduction to Robotics, Arthur J. Critchlow; MacMillan, 1985. 5. Robot Technology Theory, Design and Applications, Anthony C. McDonald, Prentice-Hall, 86.
- 3. 3 Grading Policy: Homework 15% 90-100% A Pop Quiz 0% 80-89% B Tests 25% 70-79% C Design and Simulation 30% 60-69% D Final Exam 30% 0-59% F Class Attendance: Class attendance is required. The University's Policy on Excessive Absences will be followed. All students are requested to review the policy on Excessive Absences found in the TSU graduate most recent Catalog. Students are responsible for all assignments, announcements and materials presented during the class. Homework: Homework will be assigned according to the course plan's handout. Due date is as specified in the course plan. All homework and assignments should be submitted in class. Work submitted in mailbox or slipped under the door will not be accepted. Any late work will be graded according to the following formula; (100-10xn), where "n" is the number of late working days. No credit will be given for the work submitted after the day of final exam. Assignment may be worked with fellow students and/or in problem sessions, but the work handed-in should reflect the student's understanding of the problems. Copying from others or from the AnswerBook will result in loss of credit. All homework must display the characteristicsof professional quality work and follow the Scientific Problem Solving Method Format. Samples will be provided in the class. Failure to comply with any of the above instructions will affect your grade on homework or any other work. Projects: Must be student's own work and be neatly reported in the format provided. Projects due dates will be announced in class. Tests:All work is to be done and recorded in Blue Books (large). Any hint of cheating will be dealt with according to the TSU student's Honor Code. Students who miss (or expect to miss) any test for compelling reasons, should contact instructor as soon as possible. Generally, make-up test will not be given. Class Meetings: MW 3:55-5:20 p.m. in ET 218 H. CLASS POLICIES AND EXCESSIVE ABSENCES 1. Instructor reserves the right to modify the percentage grade distribution if required. 2. The evaluation of written report will be based on the proper usage of grammar, syntax, composition and structure of the report. 3. Design project must include analytical theories and design calculations. 4. Graphical presentation of the design project will be evaluated as a component of the design project and must be done by computer. 5. All class assignments must be submitted on time. Late work generalwill not be accepted,except in real emergencies beyond the control of the student. (Severe illness or family emergencies, but not other class assignments).Late is defined as later than the date and time provided by the instructor for any particular assignment. 6. All class assignments must be submitted in class and not in the instructors mailbox or under the instructors office door. 7. All works must reflect the student's or the team's original and own work. Any hint of copying from internet or sharing information among students will result in given zero grade to the assignments for all involved students.
- 4. 4 EXCESSIVE ABSENCES The Policy on Excessive Absences as printed in current Undergraduate Catalog will be followed. Students are expected to attend classes regularly. Instructors will keep an accurate record of class attendance and be able to report, on official request, the number of absences of any student in class. At any time from the beginning of classes and instructor may report a student for unsatisfactory attendance. Reporting a student is at the discretion of the individual instructor with the understanding that excessive absence is defined as no less than one more than the number of times a class meets per week. Any student reported for excessive absence from class will be barred from further attendance in that class until the student is formally re-admitted by the University. CLASSROOM EXPECTATIONS You are expected to arrive before the class is scheduled to begin and remain in your seat during the entire scheduled class time. You are not to use tobacco products, including smokeless tobacco. Do not bring food or drink (except you may bring bottled water) into the class. Do not abuse the furniture or fixtures in the classroom. If you have a cell phone with you, silence the ringer before coming to class. DISABILITY ACCOMMODATION STATEMENT TSU is committed to creating inclusive learning environments and providing all students with opportunities to learn and excel in their course of study. Any student with a disability or condition which might interfere with his/her class performance or attendance may arrange for reasonable accommodations by visiting the Office of Disability Services (ODS). ODS is located in Kean Hall, room 131 and can be reached at 963-7400 or www.tnstate.edu/disabilityservices. You will be required to speak with ODS staff and provide documentation of the need for an accommodation. If you qualify for an accommodation you will be provided with a document stating what type of classroom accommodations are to be made by the instructor. It is your responsibility to give a copy of this document to the instructor as soon as you receive it. Accommodations will only be provided AFTER the instructor receives the accommodation instructions from ODS; accommodations are not retroactive. You must follow this process for each semester that you require accommodations. SEXUAL MISCONDUCT, DOMESTIC/DATING VIOLENCE, STALKING TSU recognizes the importance of providing an environment free of all forms of discrimination and sexual harassment, including sexual assault, domestic violence, dating violence, and stalking. If you (or someone you know) has experienced or is experiencing any of these incidents, there are resources to assist you in the areas of accessing health and counseling services, providing academic and housing accommodations, and making referrals for assistance with legal protective orders and more. Please be aware that most TSU employees, including faculty and instructors, are responsible employees, meaning that they are required to report incidents of sexual violence, domestic/dating violence or stalking. This means that if you tell me about a situation involving sexual harassment, sexual assault, dating violence, domestic violence, or stalking, I must report the information to the Title IX Coordinator. Although I have to report the situation, you will still have options about how your situation will be handled, including whether or not you wish to pursue a formal complaint. Our goal is to make sure you are aware of the range of options available to you and have access to the resources you need. You are encouragedto contactTSUsTitle IXCoordinator to report any incidents of sexualharassment,sexual violence, domestic/dating violence or stalking. The Title IX coordinator is located in the Office of Equity and Inclusion, McWherter Administration Building, Ste. 260 and can be reached at 963-7494 or 963-7438. For
- 5. 5 more information about Title IX and TSUs SART or policies and procedures regarding sexual, domestic/dating violence and stalking please visit: www.tnstate.edu/equity. If you wish to speak to someone confidentially, who is not required to report, you can contact the TSU Counseling Center, located in the basement of Wilson Hall, at 963-5611 or TSU Student Health Services, located in the Floyd Payne Campus Center room 304, at 963-5084. You may also contact the following off campus resources: Sexual Assault Center of Nashville at 1-800-879-1999 or www.sacenter.org or the Tennessee Coalition to End Domestic & Sexual Violence at 615-386-9406 or www.tncoalition.org . HARASSMENT & DISCRIMINATION Tennessee State University is firmly committed to compliance with all federal, state and local laws that prohibit harassment and discrimination based on race,color, national origin, gender, age, disability, religion, retaliation, veteran status and other protected categories. TSU will not subject any student to discrimination or harassmentand no student shall be excluded from participation in nor denied the benefits of any educational program based on their protected class. If a student believes they have been discriminated against or harassed because of a protected class, they are encouraged to contact the Office of Equity and Inclusion at McWherter Administration Building, Ste. 260, 615-963-7494 or 963-7438, www.tnstate.edu/equity. H. INSTRUCTOR INFORMATION Name: Dr. Saleh Zein-Sabatto Office Location: ET-214-B Telephone: 963-5369 E-mail: mzein@tnstate.edu Office Hours: Will be posted on the door of the office of the ECE Department