This course would be of interest to students who are interested in exploring the basics of robotics, from the manipulation perspective through modelling and simulation while developing applications and learning how to apply AI methods.

Prerequisites:  COMP 2001, COMP 2002, Mathematics 2000, Mathematics 2050, and Statistics 2500 or Statistics 2550

Availability: This course is usually offered once per year, in Fall or Winter.

Course Objectives

This course provides an introduction to mathematical formulation and practical aspects of robotic manipulators. It presents kinematics, dynamics, control and programming vital to the effective use of robotic arms. It develops a robotic manipulator model to demonstrate concepts with the help of high-level languages and frameworks. It addresses robotics sensing, perception and Artificial Intelligence topics applied to robotic manipulation.

Representative Workload

• Quizzes (2) 20%
• Lab Exercises (3) 10%
• Assignments (6) 40%
• Final Exam 30%

Representative Course Outline

• Introduction and mathematical background (3 hours)
• Direct and Inverse Kinematics (5 hours)
• Robot dynamics and force control (5 hours)
• Path and trajectory planning (5 hours)
• Sensors and perception (5 hours)
• Vision systems (3 hours)
• Fuzzy logic (3 hours)
• Manipulation and AI (5 hours)