| Instructor(s) | Ali Akbar Nazari [Coordinator] Office: Online Phone: TBA Email: ali.nazari@torontomu.ca Office Hours: Mondays 12:00-1:00 pm | ||||||||||||||||
| Calendar Description | 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. | ||||||||||||||||
| Prerequisites | ELE 639 or MEC 709 | ||||||||||||||||
| Antirequisites | None | ||||||||||||||||
| Corerequisites | None | ||||||||||||||||
| Compulsory Text(s): |
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| Reference Text(s): |
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| Learning Objectives (Indicators) | At the end of this course, the successful student will be able to:
NOTE:Numbers in parentheses refer to the graduate attributes required by the Canadian Engineering Accreditation Board (CEAB). | ||||||||||||||||
| Course Organization | 3.0 hours of lecture per week for 13 weeks | ||||||||||||||||
| Teaching Assistants | Ahmed Tabl, ahmed.tabl@torontomu.ca | ||||||||||||||||
| Course Evaluation |
Note: In order for a student to pass a course, a minimum overall course mark of 50% must be obtained. In addition, for courses that have both "Theory and Laboratory" components, the student must pass the Laboratory and Theory portions separately by achieving a minimum of 50% in the combined Laboratory components and 50% in the combined Theory components. Please refer to the "Course Evaluation" section above for details on the Theory and Laboratory components (if applicable). | ||||||||||||||||
| Examinations | In-class quizzes will be announced on D2L. The final exam will be held during the exam period. | ||||||||||||||||
| Other Evaluation Information | None | ||||||||||||||||
| Other Information | Lecture and laboratory schedules are tentative and may change. Check D2L for updates. Laboratory work requires a Linux virtual machine running on Windows. See the Laboratory Manual on hardware and software requirements. | ||||||||||||||||
Week | Hours | Chapters / | Topic, description |
|---|---|---|---|
1 | 3 | Introduction; Rigid Motion & Homogeneous Transformation | |
2 | 3 | Wheeled Mobile Robots (WMRs): Kinematic Model | |
3 | 3 | Wheeled Mobile Robots (WMRs): Dynamic Model | |
4 | 3 | Wheeled Mobile Robots (WMRs): Motion Control | |
5 | 0 | Thanksgiving (Holiday) | |
6 | 3 | Wheeled Mobile Robots (WMRs): Localization & Obstacle Avoidance | |
7 | 3 | Forward Kinematics of Robot Manipulators | |
8 | 3 | Forward Kinematics of Robot Manipulators | |
9 | 3 | Inverse Kinematics of Robot Manipulators | |
10 | 3 | Inverse Kinematics of Robot Manipulators | |
11 | 3 | Differential Kinematics of Robot Manipulators | |
12 | 3 | Differential Kinematics of Robot Manipulators | |
13 | 3 | Simulation Projects Presentations; Course Review |
Week | L/T/A | Description |
|---|---|---|
1 | - | No Lab/Tutorial in Week 1 |
2-3 | L1 | Introductory Python Programming |
4 | T1 | Tutorial |
5 | - | No Lab/Tutorial on October 12 and 15 |
6-7 | L2 | Inverse Kinematics and Simple Motions |
8-9 | L3 | Forward Kinematics and Kinematics Control |
10 | T2 | Tutorial |
11-12 | L4 | Obstacle Avoidance Control |
13 | - | Lab Exam |
Students are reminded that they are required to adhere to all relevant university policies found in their online course shell in D2L and/or on the Senate website
Refer to the Departmental FAQ page for furhter information on common questions.
The University Libraries provide research workshops and individual consultation appointments. There is a drop-in Research Help desk on the second floor of the library, and students can use the Library's virtual research help service to speak with a librarian, or book an appointment to meet in person or online.
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If you have (or suspect you may have) a disability, AAS can provide consultation, guide you through registration, develop accommodation plans where appropriate, and connect you with supports and services. For information about eligibility, documentation requirements, registration, deadlines, and available services, visit AAS.
Academic Accommodations (for students with disabilities) and Academic Consideration (for short-term extenuating circumstances) are governed by different university policies. Learn more about each process and how to access support. Students registered with AAS may request academic consideration (related or unrelated to their disability) if they experience extenuating circumstances that impact their ability to meet their shorter term academic obligations. This includes short term physical or mental health issues that are sudden/acute (e.g, the flu), unexpected illness or injury, hospitalization or treatment, and significant aggravation of a pre-existing condition. Please see Policy 167: Academic Consideration for more information and details.
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