robotics syllabus

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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 robot’s 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

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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.

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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 instructor’s mailbox or under the
instructor’s 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.

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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 contactTSU’sTitle 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

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more information about Title IX and TSU’s 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