COURSE NUMBER & COURSE TITLE: Introduction to Robotics

INSTRUCTOR: Credits: 3 Language of instruction: Chinese / English

REQUIRED COURSE OR ELECTIVE COURSE: Elective TERMS OFFERED: Autumn semester
COURSE STRUCTURE/SCHEDULE: PRE-REQUISITES:
1. teaching part(39 class hours),including seminar 1. Linear algebra 2. Model
and discussion 3. Mechanical design
2. experiment and project 4. Analysis and system control
5. Foundation of electromechanical control
ASSESSMENT TOOLS: PROFESSIONAL COMPONENT:
1. Project — 40% 1. Engineering Topics:
2. Homework — 40% Engineering Science-2credits
3. Attendence — 20% Engineering Design-1credit
TEXTBOOK/READING LIST
Textbook:
1. Xingzi Cai. Fundamentals of robotic.China machine Press.2009.
2. R. Murry. Z.X. Li. and S. Sastry. A Mathematical Introduction to Robotic Manipulation. CRC
Press.1994.
Reading list：
1. Johon J.Craig. Introduction to Robotics. 3rd ed. China machine Press.2006.
2. Niku. Saeed B.Introduction to Robotics: Analysis, systems and applications .Publishing house of
electrical industry.2004.
3. Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modeling, Planning
and Control, Springer; 1st ed. Dec 2008.
COURSE DESCRIPTION:
Robotics is a professional elective of mechanical specialty. This curricular mainly aims at
systematically introducing the basic theoretical knowledge of robotics, robot design, robot control and
robot programming knowledge to the students. Robotics is not only an essential course for students
engaged in robotics research, development ,but also a professional elective for students from the major
of mechatronics.
COURSE OUTCOMES [Related ME Program Outcomes in brackets]
1. Master mathematical knowledge required in the design, analysis, and control of the robot system.
（A4.1、A4.2、A5.1、B2）
2. Gain the ability to establish and analyze the model of robot kinematics, dynamics equation. （A5.1、
A5.2、B2）
3. Understand well common sensor on the robot, the control system configuration and control method
（A5.3、B2、C4）
4. Enhance students' perceptions of robots, by letting them perform actual experiments of programming
operation as well as leading them to visit various special robots. （A5.3、A5.4、B2、C2）
5. By means of seminars, enable students have an overall understanding of the already finished
achievement and the cutting-point of present researches. （A5）
6. Apply three-dimensional software to robot development(project or Curriculum design,which can
develop comprehensive capabilities of the specific structure of the robot design, motion simulation
design, etc. （A5.1，A5.2，B2, C4）
PREPARED BY: REVISION DATE:
Course Syllabus
COURSE INSTRUCTORS

Name: Name:
Office: Office:
Email: Email:

COURSE DESCRIPTION

Robotics is a professional elective of mechanical specialty. This curricular mainly aims at

systematically introducing the basic theoretical knowledge of robotics, robot design, robot control and
robot programming knowledge to the students. Robotics is not only an essential course for students
engaged in robotics research, development ,but also a professional elective for students from the major
of mechatronics.

TEXTBOOK

1. Xingzi Cai. Fundamentals of robotic.China machine Press.2009.

2. R. Murry. Z.X. Li. and S. Sastry. A Mathematical Introduction to Robotic Manipulation. CRC
Press.1994.

READING RERENCE

1. Johon J.Craig. Introduction to robotics. 3rd ed. China machine Press.2006.

2. Niku. Saeed B. Introduction to Robotics: Analysis, systems and applications .Publishing house of
electrical industry.2004.
3. Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modeling, Planning
and Control, Springer; 1st ed. Dec 2008.

COURSE PRE-REQUISITES

1. Linear algebra 2. Model

3. Mechanical design
4. Analysis and system control
5. Foundation of electromechanical control
COURSE LEARNING OBJECTIVES

As a professional curricular of cultivating plan of mechanical specialty, Robotics possesses the

characteristics of interdiscipline and cutting-edge, which is the integration of machinery, mechanics,
computer technique, control theory, artificial intelligent and so on. By systematical study of such a
course, students are expected to master the design, control and program of robot and own a deeper
understanding of industrial robot. Above all, students enable to analyze and design the robot system and
to be good at relative scientific research and technique.
In general, this curricular consists of mathematics, Robot kinematics and dynamics, robot control,
technique and application relating to robot, operational experiment of industrial robot, visit of various
special robots, seminars and so on. By the teaching of the course, students will be able to grip the basic
theoretical knowledge of industrial robots and also to know well about the technique and development of
a variety of robots. Apart from that, with assignment of curricular design, the ability of logical thinking,
scientific research and practice will be improved so that students are capable of analyzing, solving, and
expressing specific industrial issues by use of comprehensive knowledge. The specific cultivation comes
as follows.
1. Master mathematical knowledge required in the design, analysis, and control of the robot system.
（A4.1、A4.2、A5.1、B2）
2. Gain the ability to establish and analyze the model of robot kinematics, dynamics equation. （A5.1、
A5.2、B2）
3. Understand well common sensor on the robot, the control system configuration and control method
（A5.3、B2、C4）
4. Enhance students' perceptions of robots, by letting them perform actual experiments of programming
operation as well as leading them to visit various special robots. （A5.3、A5.4、B2、C2）
5. By means of seminars, enable students have an overall understanding of the already finished
achievement and the cutting-point of present researches. （A5）
6. Apply three-dimensional software to robot development (project or Curriculum design, which can
develop comprehensive capabilities of the specific structure of the robot design, motion simulation
design, etc. （A5.1，A5.2，B2, C4）

GRADING FORMAT AND POLICY

1. Project — 40%
2. Homework — 40%
3. Attendence — 20%
TEACHING METHODS

Robotics is a theoretical, advanced, comprehensive curricular. In order to meet with the objects and
improve teaching quality, with the goal of warming teaching atmosphere and enhancing students’
enthusiasm, we are developing better teaching method, which comes as follows:
1. Combination of the theoretical knowledge and current robot case and cutting-edge seminars.
2. Combination of classroom teaching and the use of existing laboratory equipment.
3. Combination of knowledge in classroom and books and cutting-edge seminar.
4. Combination of writing on the blackboard and the use of multimedia as well as network resources.
5. Consolidate knowledge and improve the ability by a combination of homework and synthesized
assignment.
In addition, the research and application about the robot are currently in rapid development, we will
continue to enrich the teaching content and teaching methods. We will update the courseware and
content, by combining the research and development of the discipline, and fully integrate research
projects of Robotics Institute in SJTU as well as the latest research and development in the world. By
introducing the latest research results of industrial robots, serving robots and special robots, as seminars,
we hope to widen students 'horizons and enhance students' ability of knowledge acquisition, knowledge
application and problem-solving.

THE TEACHING CONTENT AND HOURS DISTRIBUTION (INCLUDING PRACTICE,

SELF-STUDY, JOB DISCUSSIONS OF THE CONTENT AND REQUIREMENTS)

1. Introduction (3 class hours: classroom teaching and seminar)(B4,C2)

Introduce origin and development of robots. Discuss the definition, feature, construction and
classification of robots.
Seminar: the development of industrial robots in the world.
2. Mathematical base of the robotics(4 class hours: classroom teaching and seminar) (A4.1,A5.2)
Position transformation, gesture transformation, homogeneous transformation, general rotation
transformation and inverse transformation.
Seminar: Advances in humanoid robot
3. Robot kinematics (5 class hours: classroom teaching and seminar)(A5.1,A5.2,B2)
the kinematic equations of robot’s movement posture, directional angle, moving position and
coordinates, and said rod transformation matrix method for solving Euler transform, roll - Yang -
partial transform and spherical transform. Robot’s differential movement and its Jacoby matrix, etc.
Seminar: development of the soccer robot.
4. Robot dynamics (6 class hours: classroom teaching and discussion)(A5.1,A5.2,B2)
 Robot dynamics equations, the dynamic characteristics and static characteristic; analyzed two robot
dynamics equation method for finding the Lagrange functional balance method and Newton - Euler
dynamic balance method; then conclude the steps to establish Lagrange equation.
5. Analysis and design of manipulator(4 class hours: classroom teaching and discussion)(A4.1,A5.2,B2)
Design, kinematics configuration, select drive way, quantitative measurement of the workspace
based on the mission requirements, detection of stiffness, deformation, position and force.
6. Robot control (8 class hours: classroom teaching and discussion)(A5.2,B2,B4,C2)
Robot basic control principle, the position of the robot control, the robots intelligent control
principle, path planning and trajectory generation
7. Development of robotics (6class hours: classroom teaching and discussion)（B4, C2）
The newest development of robotics across the world.

CURRICULAR DESIGN

1. The first is operation on robots. This part is aimed at requiring students to master common
programming language and methods of industrial robots (KUKA and MOTOMAN), and to operate on
robots independently.

2. With the object of multiple assignments, students are required to design a six-freedom robot. Each
student should put forward specific plan, mode the manipulator with D-H mathematical model,
accomplish analysis of kinematics and dynamics of manipulator. Additionally, students should do
further constructive design, and perform visible simulation by use of robotics toolbox in matlab. Finally,
each student is expected to accomplish 3-D physical simulation of six-freedom with the help of
software.

TEAM-WORK

Success in this course depends heavily on teamwork. Student will be assigned to groups of four that
will work together the entire semester. It is expected that the students within a team will work together
on homework, projects and in-class activities. It is not unusual for team’s to experience some conflict
during the semester. What is important is that the team deal with this in a positive and t constructive
manner. Teams have problems working together should make every effort to resolve them by themselves.
The course instructors will be available to help and facilitates smooth team operation, but the end
responsibility lies with the team.
 COURSE ROAD-MAP AND SCHEDULE

Week# Lecture# Lecture Topic Lecturer Reference Homework Lab/Recitation Topics

1 1 Introduce origin and
development of robots.
Discuss definition,
feature, construction and
classification of robots.
2-3 2 Mathematical base of
robots
3-5 3 Robotic kinematics
6-7 4 Robotic dynamics
8-9 5 Analysis and design of
manipulator
9-11 6 Robot control
12-13 7 Development of robot
technique.
 Class starts

Review and assignment

assessment

作业讲评
Abstract

Self-study content
Teacnhing of key point

重点、难点讲授 Ability imo

Training and discussion

Real got

other
homework

Class conclusion

N
finished

improve
conclusion
improve

Forecast next class

Class over

Teaching review

Flow block diagram of classroom teaching design