Department of Computer Engineering

University of San Carlos

Nasipit Talamban, Cebu City

SYLLABUS
Course Information

Teacher Information

Course No.

CpE 514DS

Name :

James Michael C. Caete

Course Title

Introduction to Robotics

Office :

PCB Prototyping Laboratory or ComE Faculty Room

Credit Units

Pre-requisites :

CpE 423DS Control Systems Engineering

Term

1nd Semester, SY 2013 2014

Schedule

(4:30-7:30)TTh

COURSE DETAILS
Course Description

Course Objectives

Contacts:

Consultation Hours:
MWF 2:30-4:00 PM
Email:
jmc.canete@gmail.com

TTh 1:30-3:00 PM
Phone:
09228601125

This course introduces 5th year computer engineering students the central topics in robotics. It will focus on geometry,
forward kinematics and inverse kinematics, control of robot manipulator. The mathematical tools are presented to define
spatial motion of a robot manipulator. In addition, it will cover perception of environment for the development of
intelligent systems.
The course will be using a hands-on approach to introduce the concepts on robotics. It emphasizes the theoretical
discussion of these concepts to model a robot manipulator, such as LYNX-5 robotic arm, and solve its kinematics
problem through Denavit-Hartenberg Convention Model and application of machine vision. It is intended to adequately
prepare the students to develop a simple autonomous system.

Course Outcomes (CO)

Upon completion of the course students should be able to:
1

Targeted Program Outcomes (PO)

Introduce (I), Reinforce (R), Emphasize (E)
3
4
5
6
7
8
9
10 11

CO1: explain the concepts on forward kinematics and

inverse kinematics

CO2: set up the Denavit-Hartenberg Convention Model of up

to 5-links manipulator.
CO3: formulate mathematical equations to solve kinematic
problems.

CO4: develop a simple pick and place system with

machine vision feedback.

Course Structure
TOPICS

Time
Allocation

Teaching & Learning

Activities

Unit I. Course Orientation

and Introduction

Lecture - Discussion

Drawing assignment
definition of robot

Course Overview
Brief History of Robotics
Robot Definition and Its
Application
Elements of Robotics
System

Specific Outcomes
Discuss the different Robot
Technology
Express
their
own
definition of robots
Give examples of robot

3 hrs

12
I

Targeted COs

Assessment Scheme

Drawing assignment and short

presentation
Short Quiz

13

applications
Seatwork Problem Solving

Unit II. Review on Matrix

Lecture Discussion
Brainstorming

Algebra of Matrices
Operation on Matrices
Transformation of
Matrices
Inverse Transform of
Matrices

Specific Outcomes
Recall the concepts to
obtain solution of systems
of linear equations
Compute the indicated
operations on matrices
Determine the inverse of a
matrix

Points and Vectors

Objects
Coordinates:
Position, Orientation, and
Frames
Planar Coordinate
Transformation

Exam 1

Practice Exercise
Problem Solving

CO2
CO3

3 hrs

Seatwork

Unit III. Position and

Orientation of Objects in
Space

Assignment

Lecture
Demonstration
Discussion
5 hrs
Practice Exercises
obtaining the
transformation matrices
(peer practice)

Assignment
CO2
CO3

Exam 2

Planar Rotational
Transformation
Homogeneous
Transformation

Specific Outcomes

Relate the position and

orientation of a coordinate
system
in
threedimensional space to a
reference
coordinate
system.
Write the transformation
matrix mapping between
translated frames
Write the transformation
matrix mapping between
rotated frames
Write the transformation
matrix mapping between
rotated and translated frames.

Advance Reading
Assignment

Unit
IV.
Forward
Kinematics for Position

Notations and Description

of Links and Joints
Denavit-Hartenberg
Notation
Denavit Hartenberg
Parameters
Forward Kinematics of a
Manipulator

Oral Reading Response

Seatwork and Group work

Lecture Discussion
8 hrs

Video demonstration
Group-based Exercisepeer discussion
(Modeling an assigned
manipulator)

CO1
CO2
CO3

Written summary report of the

Denavit-Hartenberg Model and
Forward Kinematic equation of a
specific manipulator(Model and
Limitation of each joint LYNX-5
robotic arm)

Exam 3
Specific Outcomes
Demonstrate the assigning
of coordinate frames of up
to 5-link manipulator.
Define the values of the
DH parameters
Compute the
transformation matrix
Derive equations to solve
the position of the endeffector.
Identify maximum rotation
per joint of a manipulator
Unit V. Inverse Kinematics
for Position

Lecture Demonstration Discussion

Group-based ExercisePeer Discussion

Workspace
Solvability
Algebraic vs Geometric
Solution
Solution by a Systematic
Approach.

Specific Outcomes
Identify reachable
workspace of a
manipulator
Write the Inverse
Transform of Matrix
obtained from Forward
Kinematics.

8 hrs

Group work result

Written report for the derivation of
equations for joint angles

CO1
CO2
CO3

Written summary report for reachable

workspace of the manipulator assigned.
Exam 4

Derive the equations to

solve the joint angles.

Unit VI. Introduction

Computer Vision

to

Projection
Image data representation
Image pre-processing
Image Thresholding
Image Understanding

Design Project Documentation

Research - Reporting

7 hrs

Specific Outcomes

Reporting on of thresholding
algorithms

Lecture
Demonstration
Discussion

CO4

Explain
different
thresholding
algorithms
and implement through
writing C programs
Discuss the image
understanding techniques
Material

Available/Accessible At

Books
Crane, C., Duffy, J. Kinematics Analysis of Robot All the books are available at the USC Learning Resource
Center. Call numbers are indicated after the reference.
Manipulators [629.892 C85]

Educational
Resources

Appin Knowledge Solutions Robotics

[629.892 R57 c.2]
Sahin, F., Kachroo, P. Practical and Experimental

Robotics [629.892 Sa19]

Critchlow, A. Introduction to Robotics [629.892 C86]
Sonka, M., Hlavac, V., Boyle, R. Image Processing,
Analysis and Machine Vision [549.92 So42]

As a students in this course, you must comply with the following requirements:
1. Attendance and Class Participation
You are expected to attend all classes. Attendance in the lectures is very important because the lectures
present new information and provide background for the assignments. You are responsible for all of the
material presented in lectures.
The USC Student Manual (2006 Edition) specifies that a student who incurs absences of more than 20%
of the prescribed number of class hours or laboratory periods during the term should be given NC or 5.0.
A 3-unit course has 48 class hours. Students with three absences are required to get a readmission permit
from the college dean.
Course
Requirements

Class participation is evidenced by individual or group outputs from in-class exercises. These outputs shall
be collected at the end of a class meeting. In-class exercises could include short quizzes, seatworks, and
group discussions.
2. Out-of-Class Learning Tasks and Assignments
To ensure learning engagement and constant timely practice, you are required to do out-of-class tasks in the
form of small projects and recommended problems relevant to a particular unit. To this end, you are
required to have a notebook intended only for exercises. From time to time, your exercise notebooks will
be checked in order to assess the timeliness of your learning efforts.
3. Tests and Examinations
A minimum of four (4) exams are given during the semester and are scheduled following the schedules set by
the university. The midterm exam and the final exam are three-hour examinations and require students to

present valid examination permits for participation in the examination.

Assigning of course grades at the end of the semester is based on various assessment data. Scores obtained
from various graded activities are assigned specific weights in the calculation of the overall performance of a
student. Weighting is detailed as follows:

Grade Item

Evaluation &
Grading Policy

Weight (%)

Exam 1

15

Exam 2

15

Exam 3

15

Exam 4

15

Project

20

Oral Report/Assignments/Short Quiz

15

Overall Performance

100

The grade earned is computed as follows: Grade

120 Overall Performance . Thus, an overall

20

performance of 60% gets the minimum passing grade of 3.0.

Tardiness
Course Policies

Attendance will be checked 5 minutes after the scheduled start of the class. If you are not around during the
roll call, you are automatically marked late. Although occasional tardiness may be tolerated, habitual tardiness
is not. Students who are habitually late may be required to do extra learning tasks.

Special Assignments
Students are encouraged to work together on assignments and when studying. However, the product that you
shall turn in must be your own work, not a direct copy of someone elses work. Cases of copying shall be dealt
with following the universitys procedures for disciplinary actions. Note that the university considers
dishonesty or any fraudulent act as a major offense. Thus, make sure that you do your own work and that you
protect them from plagiarism by others.
Special assignments that are submitted late may not be accepted.
Missed Tests and Exams
If you miss to take a scheduled examination, you can make a formal written request to take a special
examination if missing the examination was due to a serious medical condition or due to an emergency.
"EMERGENCY shall be understood as an unforeseen combination of circumstances which calls for an
immediate response to an urgent need for assistance or relief. Pertinent supporting documents must be
attached to your letter of request. The schedule of the special examination shall be set by the teacher.
Classroom Behavior
In class, students are expected to behave in a manner that would not unnecessarily disrupt classroom activities.
The instructor reserves the right to expel misbehaving students from the classroom. For one, use of cell phones
during class hours is strictly prohibited; cell phones used in class will be confiscated and surrendered to the
Student Affairs Office. (Students are assumed to have read Section 2.5.4 to 2.5.12 of the USC Student Manual,
2006 edition.)

ANNEX: BSCpE Program Outcomes

PO1. An ability to apply knowledge of mathematics, sciences, and engineering sciences to the practice of computer engineering.
PO2. An ability to design and conduct experiments, as well as to analyse and interpret data.
PO3. An ability to design a system to meet desired needs.
PO4. An ability to work effectively in multi-disciplinary and multi-cultural teams.
PO5: An ability to identify, formulate, and solve computer engineering problems.

PO6: An understanding of professional and ethical responsibility.

PO7: An ability to communicate effectively in verbal and non-verbal communication.
PO8: A broad education necessary to understand the impact of engineering solutions in a global and societal context.
PO9: An ability to engage in life-long learning and to keep current of the development in a specific field of specialization.
PO10: Knowledge of contemporary issues.
PO11: An ability to use appropriate techniques, skills, and modern engineering tools necessary for computer engineering practice to
be locally and globally competitive.
PO12: An ability to apply acquired computer engineering knowledge and skills for national development.
PO13: An ability to internalize the care of the environment in the practice of the profession.