كلية الهندسة - جامعة عين شمس, الرئيسية

الرئيسية  >  كلية الهندسة - جامعة عين شمس, الرئيسية

Industrial Robotics

What Will Learn?

  • Course Aims
    The aim of this course is the following: Comprehend the fundamental concepts of robotics study including frames rotation and homogeneous transformation matrices and their importance. Introduce the concepts of kinematics position velocity and acceleration as well as dynamics and control of robotic manipulators. Familiarize the student with the concepts of trajectory planning using both trajectory and joint space planning concepts.
  • Course Goals
  • Quality Education

Requirements

MDP213 OR MDP214

Description

  • English Description

    Introduction to robotics: history of robotics, types of robotics (Serial, parallel, walking, bipedal, etc.), robotics applications, Transformation. Kinematics analysis: generalized coordinates, rotation representations, Euler angles, rotation matrix, homogeneous transformation matrix, Denavit Hartenberg rules, forward and inverse kinematics, Jacobian matrix, singularities. Trajectory planning: trajectory generation problem, joint and Cartesian planning, cubic polynomial, higher order polynomials. Dynamics analysis: joint space dynamics, Newton-Euler algorithm, inertia tensor, Lagrange equations, inverse and forward dynamics. Control: computed torque techniques, joint space control, PD control stability, trajectory tracking
  • Arabic Description

    Introduction to robotics: history of robotics, types of robotics (Serial, parallel, walking, bipedal, etc.), robotics applications, Transformation. Kinematics analysis: generalized coordinates, rotation representations, Euler angles, rotation matrix, homogeneous transformation matrix, Denavit Hartenberg rules, forward and inverse kinematics, Jacobian matrix, singularities. Trajectory planning: trajectory generation problem, joint and Cartesian planning, cubic polynomial, higher order polynomials. Dynamics analysis: joint space dynamics, Newton-Euler algorithm, inertia tensor, Lagrange equations, inverse and forward dynamics. Control: computed torque techniques, joint space control, PD control stability, trajectory tracking
  • قسم
    هندسة الميكاترونيات
  • الساعات المعتمدة
    3
  • الدرجات
    الإجمالي ( 100 ) = نصف العام (25) + tr.Major Assessment (30 = tr.Industry 0% , tr.Project 7% , tr.Self_learning 7% , tr.Seminar 21% ) + tr.Minor Assessment (5) + درجة الامتحان (40)
  • الساعات
    ساعات المحاضرة: 2, ساعات التعليم: 2, ساعات المعمل: 1
  • Required SWL
    125
  • Equivalent ECTS
    5
  • - Niku, Saeed B. Introduction to robotics: analysis, control, applications. John Wiley & Sons, 2020.
  • - Siciliano, Bruno, et al. "Modelling, planning and control." Advanced Textbooks in Control and Signal Processing. Springer, (2009).
  • - Spong, Mark W., Seth Hutchinson, and Mathukumalli Vidyasagar. "Robot modeling and control." Industrial Robot: An International Journal (2006).