MTE 2124: MECHANICS OF ROBOTICS SYSTEMS | MAHE-Dubai | Year 2024 

Introduction: [04] Definition of robots; Degrees of freedom; Degrees of movement, Robot configuration; Definition and factors affecting the control resolution, Spatial resolution, Accuracy, and Repeatability, Specification of a robot, Actuators and Sensors, Drives and Transmission systems used in robotics.

Coordinates, Mapping, and Transformations: [07] Descriptions- Positions, Orientations, and Frames, Mappings-changing descriptions from frame to frame, Operators: translations, rotations, and transformations, Homogeneous transformations, Inverting transforms, Fixed and Euler angles representation, Quaternions.

Inverse Kinematics and Differential Motion: [07] Introduction to kinematic link and joint, description kinematic pair open and closed kinematic chains, convention for affixing frame to link, manipulator kinematics, Joint pace, and Carte ian Space, Forward kinematic of ingle and multi-degree of freedom indu trial manipulator, frame with tandard names. Kinematic modelling of planar and spatial parallel manipulator Cloed-loop equation, four-bar and slider-crank mechanism, Stewart platform

Inverse Kinematics and Differential Motions: [09] Solvability, the notion of manipulator sub pace, algebraic solution by reduction to polynomial, Pieper's solution for three-axis inverse manipulator kinematics, the standard frames, solving a manipulator's repeatability and accuracy. Inverse transform method, i.e., pre- and post-multiplication approach. Jacobian and inverse Jacobian, Cartesian and Joint space velocity, resolved motion rate control method, Resolved rate strategy, the Jacobian matrix for positioning, Velocity analysis through Jacobian matrix, Singularities in industrial arms, Differential Motions.

Robot Dynamics: [06] Introduction, acceleration of a rigid body, mass distribution, Lagrangian Formulation of Dynamics, Euler's equation, iterative Newton-Euler dynamic formulation, iterative vs. closed f01m, f01mulating manipulator dynamics for planar and spatial industrial manipulators. Introduction to 3d rigid body dynamics

Trajectory generation: [04]: Introduction, general considerations in path and trajectory description and generation, joint-space schemes, Cartesian-space schemes, geometric problems with Cartesian paths.

Self-study: Kinematic configurations of the industrial robot, case studies on different industrial manipulator working principles and applications or a mini project.

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MTE 4410: ROBOT DYNAMICS AND CONTROL  | MAHE-Dubai |  Year 2025 

Introduction: [05]: Examples of robotic systems, Transformations: Joint/Task space, Forward kinematics, Inverse kinematics, Jacobians, Trajectory generation, Serial and parallel kinematics

Robot Dynamics: [11]: Lagrange-Euler dynamics, Force, Inertia, and Energy, Lagrange’s equations of motion, Newton’s equations of motion, Formulation of robot dynamics, State-variable representations, Dynamics of robots with actuators.

Robot control problems: [11]: Regulator problem, tracking problem, controllers -PD, PID compensation, closed loop control, gain tuning, performance analysis, simulation analysis. Set point tracking – using PD and Feed forward control, Torque control, Computed torque control , Discretization of outer PD/PID Control loop, Actuator saturation, Integrator anti-windup compensation, and Quadratic optimal control problem.

Nonlinear dynamics and control: [09]: Lyapunov stability theorem, Robust control, Feedback-Linearization controllers, Lyapunov Designs, Variable-Structure controllers, Saturation-type controllers.

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Course/Lab Teaching Assistant (Aalto University -Finland, Yuan Ze University -Taiwan) | Year 2012 - 2015

1. Field and service robotics

2. Robotics: Manipulation, Decision Making and Learning (ELEC-E8119 )

3. Bachelors Seminars ELEC3013 

4. Vehicular Electronics(EE641A),

5. General Physics Lab 1 and 2 (EO104),(EE124B), (EO103A) EO104),(EE124B)

6. Vehicular Electronics(EE641A),

7. General Physics 1 (CN103A)