كلية الهندسة - جامعة عين شمس, الرئيسية

الرئيسية  >  كلية الهندسة - جامعة عين شمس, الرئيسية

Industrial Robotics

What Will Learn?

  • Course Aims
    This course aims to: - 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

MDP213s OR MDP214s

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.Student Activities (35 = tr.Industry 0% , tr.Project 7% , tr.Self_learning 7% , tr.Seminar 21% ) + 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).