Mechatronics Engineering Department
Faculty of Engineering
Ain Shams University
MCT344/MCT342/CSE373/CSE471: Robotics
Lecture 1: Introduction
Presented by : Prof. Mohammed Ibrahim Awad
Course Assessment
Assessment Scheme
Mid-term Exam = 20
Quiz(zes) = 10
Assignments = 10
Project activities = 20
Final Exam = 40
100
Textbooks
1. M. W. Spong, S. Hutchinson, and [Link], “Robot Modeling and Control”, 2nd ed., John
Wiley & Sons, 2020. ISBN: 978-1119523994.
2
Lab Plan
Week # Exp 1 Exp 2 Exp 3 Exp 4 Exp 5 Progress
1_ODD
2_Even GA GB G C + GD
3_ ODD GA GB G C + GD
4_ Even GC GD G A +G B
5_ ODD GC GD G A +G B
6_ Even GB GA GC+GD
7_ ODD GB GA GC+GD
8 Midterm
9_ Even GD GC GA + G B
10_ODD GD GC GA + G B
11_Even GA+B+C+D
12_ODD Progress
13_Even Progress
14 Project Submission
3
Robotic History
❑ The term robot was first introduced by the Czech playwright Karel Capek in his 1920
play Rossum's Universal Robots, the word robota being the Czech word for worker.
Since then the term has been applied to a great variety of mechanical devices, such as
teleoperators, mobile robots, underwater vehicles, autonomous cars, drones, etc.
❑ Anything that operates with some degree of autonomy under computer control has at
some point been called a robot.
❑ In this course we will focus on industrial manipulators analysis.
Robot Definition and Structure
Robot Institute of America (RIA):
A robot is a reprogrammable multifunctional manipulator designed to move material,
parts, tools, or specialized devices through variable programmed motions for the
performance of a variety of tasks.
How does Intelligent Robot Work?
Robotics is the intelligent
connection from
perception to action.
Robot Classifications
Robots
Application Structure
Industrial Service Fixed Base
Mobile Base
Structure
Medical Serial Wearable
Terrestrial Aquatic Airborne
Manipulator Robotics
Agriculture Parallel Wheeled ROV Exoskeleton
Manipulator
Drones
Domestic (Multi-Rotor)
Legged AUV Bionic Limbs
VTOL (Vertical Take-
Military off and Landing)
Fixed-Wing
Autonomous Robots
Hybrid Robots Bird-like Robots
Logistics
(Ground-Air Multi-
modal robots) Bio-inspired Robots
(insect flight)
Fixed Base Structure Robots
End Effectors/ Grippers
Terrestrial Robots
Terrestrial Robots
Self Driving Vehicle
ROV (Remotely Operated Vehicle)/AUV (Autonomous
Underwater Vehicle
Drones/UAV (Unmanned Aerial Vehicles)
Fixed Wing drones
Multi-rotor drones
insect flight
Bird-like Robots
Single-rotor drones
Vertical Take-Off and Landing (VTOL)
Wearable Robots
Wearable Robots
Robotics at ASU Mechatronics
Open Kinematic Chian Vs Closed Kinematic Chian
Open Kinematic Chian = Serial Manipulator
Closed Kinematic Chian = Parallel Manipulator
Serial Manipulator Vs Parallel Manipulator
Spaces in which motion can be observed and mappings
between them
Motor Torques
Forward Kinematics Versus Inverse Kinematics in 2DoF
Robot
The two-link elbow robot has two solutions
to the inverse kinematics except at singular
configurations, the elbow up solution and
the elbow down solution.
Inverse Kinematics Problem in 2DoF Robot
Workspace
A robot’s workspace is the three-dimensional region of space that the robot’s end-effector (tool center
point) can reach, given the robot’s joint limits, link geometry, and any physical constraints.
Workspace
Reachable workspace:
The set of all positions (points in space) that the robot’s end-effector can reach with at least one valid joint configuration
(ignoring orientation, or allowing any orientation that happens to be possible).
Dexterous workspace:
The set of all positions that the robot’s end-effector can reach where it can also achieve all (or a specified range of) end-
effector orientations at that position (i.e., the robot has full/adequate orientation capability there).
Types of Joints in Robotics
Articulated
Robot
Manipulator Examples
Cartesian robot (PPP)
Manipulator Examples
Schematic representation of an RRP manipulator,
referred to as a spherical robot
SCARA robot (RRP or RRPR)
Manipulator Examples
Cylindrical robot (RPP)
Stewart Platform (6-UPS)
Degrees of Freedom
Degrees of Freedom (DoF)
Grubler’s criterion
Grubler’s criterion
Degrees of Freedom (DoF)
DOF conditions for a robot/mechanism (DOF = mobility = number
of independent motions the mechanism can make).
1. DOF > 0
✓ The mechanism is movable.
✓ It has DOF independent motions (you need that many
independent inputs to fully “command” its motion).
✓ Example: a planar 2-link arm typically has DOF = 2.
2. DOF = 0
✓ The mechanism is a structure (no motion).
✓ It’s fully constrained.
✓ Example: a rigidly braced frame.
3. DOF < 0
✓ The mechanism is overconstrained (more constraints than
needed).
✓ Often indicates assembly stress, binding, or that the simple DOF
formula doesn’t capture special geometry (some mechanisms still
move due to compliant parts or special constraints).
✓ Practically: “you tried to constrain it too much.”
Degrees of Freedom (DoF)
Four bar Mechanism
OR Grubler’s criterion
Degrees of Freedom (DoF)
Five bar mechanism
OR Grubler’s criterion
5
Degrees of Freedom (DoF)
Grubler’s criterion
6-UPU
Apply Grubler’s criterion to calculate DoF in 6-SPS
Stewart Platform
6-SPS
Underactuated Robotics/Passive Dynamics Walking
Questions
Thank You