Sir Syed University of Engineering and Technology, Karachi

8th Semester, Electronic Engineering Department

EE 464 Introduction to Robotics
Course Objective: The course is aimed to cover the all necessary fundamentals of robotics, its components and
subsystem and its application. It provides the understanding of robot and robotics. Furthermore, it provides the
basic understanding of sensors, actuators, control system that are used in robotics and robotics application. After
this course students will be able to design a robot and able to integrate a robot in appropriate applications.
Pre-requisites by Topics: Matrix Algebra, Feed Back Control Theory and Analysis, AC, DC, Stepper and Servo
Motors.
Teachers:
Name

Designation

Muhammad Asif
Fahad A Siddiqui
Muhammad Rehan
Abdul Attayyab Khan

Assistant Professor
Assistant Professor
Lecturer
Lecturer

Email
masif.ssuet@gmail.com
fahad_ahmed@hotmail.com
murehan@hotmail.com
tayyabkhan2004@gmail.com

Office
GG-01, SSUET
FFT-10, SSUET
FB-05, SSUET
GF-02, SSUET

Recommended Books:
Introduction to Robotics: Mechanics and Control, 3/E, by JOHN J. CRAIG
Introduction To Robotics, Analysis, Systems , Application by SAEED B. NIKU
Course Website: https://sites.google.com/site/464ssuet/

No. of weeks
Week
01

Week
02 03
Week
04 06
Week
07 08
Week
09 11
Week 12
Week 13
Week
14 15

Week 16

Course Outline Breakup

Lecture Contents/Material
Introduction To Robotics: What is robot?, Classification of Robots, Advantages and
Disadvantages of Robots, Robot Components, Degree of Freedom, Joints, Robot
Coordinates, Reference Frames, Programming Modes, Robot Characteristics, Robot
Workspace, Robot Languages, Application of Robots
Spatial Descriptions And Transformation: Robot as Mechanisms, Matrix Representation,
Description of Position and Orientation, Frames and Displacement mappings, Homogeneous
transforms, Transformation of free vectors, examples.
Manipulator Forward Kinematics: Link description, link connection, Denavit Hartenberg
parameters, examples.
Manipulator Inverse Kinematics: Solvability, algebraic and geometric approaches,
Degeneracy and Dexterity, Examples.
Jacobians: Velocities, Static Forces and Manipulator Dynamics analysis: Velocity
analysis, linear and rotational velocity of rigid bodies, velocity propagation, Jacobians, velocity
transformation and inverse velocity, force transformation and inverse force, examples
Robot Controller Design: P, PI, PD, PID and AI control in Robotics
Trajectory Generation: Joint space schemes, continuous path motion, examples.
Actuators: Characteristics of Actuating Systems, Comparison of Actuating Systems, Hydraulic
and Pneumatics Devices, Electric Motors in Robotics.
Sensors: Sensor Characteristics, Position Sensors, Velocity Sensors, Acceleration Sensors,
Touch and Tactile Sensors, Proximity Sensors, Range Finder.
Course Review

Marks Distribution: Midterm 15%, Quizzes/Assignments 05%, Final Exams 80% = Total 100%.