MECH 464/563 – Industrial Robotics (UBC Canada)
Announcements
- 4/8: Solution to HW7 and 8 have been uploaded.
- 4/6: LEC22 has been posted.
- 4/4: Solved past exams and a formula sheet for the final exam have been posted.
- 03/29: HW#8 has been assigned. This is the last homework (the best seven will be counted).
- 03/28: LEC21 has been posted.
- 03/24: Final project presentation schedule is available here.
- 03/23: LEC20 has been posted.
- 03/22: HW#7 has been uploaded.
- 03/13: Tutorial#4 has been posted. It symbolically computes a dynamic model of a two-link manipulator (in-class example in lectures 15 & 16)
- 03/09:
- LEC16 has been posted.
- A solution to HW5 has been posted.
- 03/08: HW#6 has been posted.
- 03/07: LEC15 has been uploaded.
- 03/02:
- LEC14 has been posted.
- A solution to the Midterm exam has been uploaded.
- 02/22: A formula sheet has been uploaded.
- 02/19: A solved sample midterm exam has been posted. Please note that the types of topics covered and the level of difficulty of problems in the actual exam may be different.
- 02/17: HW#5 and Tutorial#3 have been posted.
- 02/16: LEC13 has been uploaded.
- 02/10: Solution to HW4 has been posted.
- 02/02:
- HW#4 and Tutorial#2 have been posted.
- Solutions to HW#2 and 3 have been uploaded.
- 01/26: HW#3 has been assigned today and is due Thu Feb 02 in class (no later than 11:10am).
- 01/24: HW#1 solution has been posted. Marked HW#1 will be returned in class on Thursday.
- 01/23: Office hours will now be held every Tuesday (not Thursday).
- 01/22: Tutorial#1 has been uploaded. It has MATLAB code for the Microbot example covered in LEC 03 and 04. The code might be helpful in doing HW2.
- 01/18:
- HW#2 has been assigned today and is due Thu Jan 26 in class (no later than 11:10am).
- 01/16:
- Please enroll yourself in the Piazza class that has been created. It will be used as a platform for Q&A, announcements, course-related discussions, etc.
- 01/11:
- HW#1 has been assigned (posted) and is due Thu January 19, 2017 in class. HW must be submitted no later than 11:10am on the due date. Late submission won’t be accepted.
Course Structure
- Credits: 3, 2nd Term, 2016/17
- 3 hours of lecture per week, Tuesdays and Thursdays 11:00 am-12:30 pm, HDP-301
Course Description
MECH 464/563 (Industrial Robotics) is an introductory level course in robotics intended for graduate and senior undergraduate students of mechanical/electrical/mechatronics engineering. The course serves as a foundation for more advanced-level courses in the field of robotics.
Following is the summary of topics:
Kinematics (description of position and orientation of rigid bodies, the DH convention, forward and inverse kinematics, differential kinematics, singularities), Dynamics (Dynamics of rigid bodies, the arm equation in closed and recursive forms), Motion planning (point-to-point motions, interpolation and path primitives, planning trajectories for manipulators), and Control (position control, computed-torque control (feedback linearization), interaction control).
Instructor
Dr. Muhammad Tufail, tufail AT alumni.ubc.ca
Office Hours: Tue 1:00-3:00 pm (or by appointment), ICICS 065 (Robotics Lab)
Teaching Assistant: Lili Meng, lilimeng1103 AT gmail.com
Office: TBA
Textbook & References
Bruno Siciliano, Lorenzo Sciavicco, and Luigi Villani, Robotics: Modelling, Planning and Control, Springer, London, 2009, ISBN 978-1-84628-642-1. (Referred to as SSV’09 in lecture notes)
References:
- Craig, J. J., Introduction to Robotics: Mechanics and Controls, Third Ed., Pearson/Prentice Hall, 2005 [e-Book]
- Schilling, R. J., Fundamentals of Robotics: Analysis and Control, Prentice Hall, 1990
- Corke, P., Robotics, Vision, & Control, Fundamental Algorithms in MATLAB, Springer, 2011 [eBook]
- Spong, M. W., Hutchinson, S., and Vidyasagar, M., Robot Modeling and Control, John Wiley and Sons, 2006
Course Grading
- MECH 464: Homework 25%, Midterm Exam 25%, Final Exam 50%
- MECH 563: Homework 25%, Midterm Exam 25%, Project 50%
Weekly Schedule (Tentative)
| Dates | Module | Lectures | Assigned Readings/Supplementary Material | Homework |
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| Jan 03,05 | INTRODUCTION | Read Chapter 1 | ||
| Jan 10, 12 | KINEMATICS |
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| Jan 17, 19 |
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| Jan 24, 26 |
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| Jan 31, Feb 02, 07 |
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| Feb 09, 14, 16 | TRAJECTORY PLANNING |
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| Tue, Feb 28 (11:00am, in class) |
MIDTERM EXAM (Solution) (Solved Sample Midterm Exam) (Formula Sheet) |
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| Mar 02, 07, 09, 14 | MANIPULATOR DYNAMICS |
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| Mar 16, 21, 23, 28 | CONTROL |
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| Mar 30, Apr 04 | MECH 563 Project Presentations (Schedule) | |||
| Apr 06 | Course Review (LEC22, LEC22-4s) | |||
| Mon, Apr 10 (8:30am, Location: CEME 1204) |
FINAL EXAM (Solved past exams) (Formula sheet) |
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Software Tools (MATLAB/Simulink might be used for homework, ROS/V-REP for the project)
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MATLAB® and Simulink®
- A student edition has been installed for all UBC students on computers at the PACE Lab (ICICS 060).
- Robotics Toolbox developed by Peter I. Corke. The Toolbox can be downloaded from here.
- ROS (Robot Operating System): A great set of software libraries and tools for robotic application development. It is extensively used by both academic institutes (for research and education) and industry. It supports both visualization and control of almost any kind of robot in real-time including arm-type industrial robots, mobile robots, humanoids, UAVs etc. Pre-requisites to learn and work in this software includes familiarity with Linux (Ubuntu) and C/C++/Python programming languages. [Free online ebook on ROS: Jason M. O’Kane, “A Gentle Introduction to ROS”, 2014]
- V-REP (Virtual Robot Experimentation Platform): A general purpose robot simulator with integrated development environment where you can simulate kinematics and dynamics of your robot and control it locally via an embedded script (in Lua programming language) or a plugin written in C/C++; or remotely via remote API nodes written in C/C++, MATLAB or ROS. It can simulate robots (both fixed and mobile) and a variety of sensors (e.g., proximity, vision, and force/torque sensors) and mechanisms in a factory automation environment.
- Learning MATLAB and Python (for beginners)
Similar Courses Taught Elsewhere
- Prof. Alessandro de Luca, Robotics-1 (undergrad level) and Robotics-2 (graduate level), Sapienza University of Rome [Video lectures available on YouTube]
- Prof. Oussama Khatib, Introduction to Robotics, Stanford University [Video lectures]
Industrial and Service Robot Manufacturers
- FANUC Robotics*
- Adept Technology Inc.
- ABB Robotics*
- Universal Robotics
- KUKA Robotics*
- NASA Jet Propulsion Laboratory – Robotics
- Yaskawa Motoman Robotics
- Kawasaki Robotics*
- Rethink Robotics
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Aldebaran Robotics
- Nao, Pepper
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Honda Robotics
- ASIMO
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Intuitive Surgical
- da Vinci
- Mako Surgical
*: belongs to the Big Four group of industrial robot manufacturers
Other Resources
