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Introduction To Robotics and Computer Vision

This document provides information about the course "Introduction to Robotics and Computer Vision" taught at Addis Ababa Science and Technology University. The 5 ECTS course is intended for 5th year BSc students in Electromechanical Engineering. Over the course, students will learn about industrial robot components, kinematics, dynamics, control systems, and computer vision topics like edge detection and motion analysis. Lectures, demonstrations and lab exercises will be used to teach content over chapters on robot introduction, kinematics, dynamics and control modeling, and an introduction to computer vision. Students will be evaluated through assignments, projects, quizzes, and a final exam.

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bereketab mulugeta
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61 views2 pages

Introduction To Robotics and Computer Vision

This document provides information about the course "Introduction to Robotics and Computer Vision" taught at Addis Ababa Science and Technology University. The 5 ECTS course is intended for 5th year BSc students in Electromechanical Engineering. Over the course, students will learn about industrial robot components, kinematics, dynamics, control systems, and computer vision topics like edge detection and motion analysis. Lectures, demonstrations and lab exercises will be used to teach content over chapters on robot introduction, kinematics, dynamics and control modeling, and an introduction to computer vision. Students will be evaluated through assignments, projects, quizzes, and a final exam.

Uploaded by

bereketab mulugeta
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Addis Ababa Science and Technology University

Collage of Electrical and Mechanical Engineering


Department of Electromechanical Engineering

Course Number EMEg 5262


Course Title Introduction to Robotics and Computer Vision
Degree Program B.Sc. in Electromechanical Engineering
Lecturer Abera M.
ECTS/Credits 5 (3 Cr.hr)
Contact hour per 2 Lecture hrs. , 3 Lab hrs
week
Course Learning At the end of the course, students will be able to:
Objectives  Explain about elements (sensors and actuators, end effectors) and
applications of an industrial robot
 Analyze the kinematics and dynamics model of industrial robots
 Design of a controller for industrial robots to track the desired
trajectory
 Explain about Edge detection, Morphology and Motion Detection
Course Chapter 1: Introduction to robotics
Description/Course 1.1 Definition of robot
Contents
1.2 Types of Robots
1.3 Main Components of Industrial Robots
 Link and Joints
 Controller
 Sensors and Actuators
1.4 Applications of Industrial robot
 Pick and place;
 spot and arc welding;
 surface coating and assembly

Chapter 2: Kinematics of Industrial robot


2.1 Direct and inverse kinematics
2.2 Homogeneous coordinate transformation of rigid body
 2D and 3D Transformation
 Composition of Rototranslation
 Homogeneous Transformation
2.3 Velocity and Acceleration Analysis
2.4 Denavit-Hartenberg (D-H) parameters
2.5 Jacobian and Singularity

Chapter 3: Dynamic modeling and control of Industrial robot


3.1 Euler Lagrange approach
 Kinetic energy of rigid body
 Potential energy of rigid body
3.2 Newton Euler approach
3.3 Trajectory Planning
3.4 Position control

Chapter 4: Introduction to Computer Vision


4.1 Edge detection
4.2 Morphology
4.3 Motion Detection
Pre-requisites EEEg3153-Introduction to Control Engineering,
ECE4301 Interfacing
Target Group V Year
Year/Semester V/II
Status of Course Core Electrical Engineering
Teaching & Lectures, demonstration & laboratory exercises
Learning Methods
Assessment/Evaluat  Continuous Assessment (Laboratory Exercises, Quiz, project work
ion & Grading and Assignments ) 50%
System  Final Examination 50%
Attendance  Minimum of 80% attendance during lecture hours; and
Requirements  100% attendance during practical work sessions, except for some
unprecedented mishaps.
Literature Text Book
 Spong, Mark W., Seth Hutchinson, and Mathukumalli
Vidyasagar. Robot modeling and control. Vol. 3. New York:
Wiley, 2006.
 Bolton, William. Programmable logic controllers. Newnes, 2015
References
 Siciliano, Bruno, et al. "Robotics: Modelling, Planning and
Control." (2008).
 Lewis, Frank L., Darren M. Dawson, and Chaouki T. Abdallah.
"Robot Manipulator Control: Theory and Practice."
 Craig, John J. Introduction to robotics: mechanics and control.
Vol. 3. Upper Saddle River: Pearson Prentice Hall, 2005.

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