The University of Jordan

School of Engineering
Department of Mechatronics Engineering
1st Semester – A.Y. 2015/2016

Course: Robotic Systems – 0908563 (3 Cr. – Elective Course)

Instructor: Dr. Lutfi Al Sharif

Office: Mechatronics Engineering Department, Telephone: 5355000 ext 23025,
Email: lal-sharif@theiet.org

Course Website: http://eacademic.ju.edu.jo/l.sharif/Material/Forms/AllItems.aspx

Catalog Data: Introduction; spatial descriptions and transformations; forward kinematics; inverse
kinematics; Jacobians; manipulator dynamics; trajectory planning; introduction to mobile
robots.

Prerequisites by
Course: Control Systems 0908441, Machinery 0904331

Prerequisites The students are expected to have a good grounding in the principles of dynamics,
By Topic: machinery and the principles of control systems. They also need to have a good grasp of
using MATLAB and Simulink.

Textbook: • John Craig, “Introduction to Robotics: Mechanics and Control”, 3rd Edition,
Pearson, Prentice Hall.
• Material is mainly contained on the webspace (see above).

References: • Peter Corke, “Robotics, Vision and Control, Fundamental Algorithms in

MATLAB”, Springer, 1st edition, 2011.

Schedule &
16 Weeks, 45 lectures (50 minutes each) plus exams.
Duration:

Minimum Student Textbook, class handouts, scientific calculator, and an access to a personal computer.

Material:
Minimum College Classroom with whiteboard and projection display facilities, library, computational
facilities with MATLAB and other engineering programs.
Facilities:
Course The course aims to introduce the basic concepts of robotic manipulator systems. The
Objectives: students should become able to model robotic manipulators including forward kinematics,
inverse kinematics, Jacobian matrices manipulator dynamics. They should also be able to
carry out path planning. They will also gain a basic understanding of mobile robots.

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 Course Learning Outcomes and Relation to ABET Student Outcomes:
Upon successful completion of this course, a student should:
• Understand how to express the position and orientation of an object. (a,c)
• Be able to model a robotic manipulator arm in the DH notation. (a,c)
• Formulate and use the forward and inverse kinematics. (a,c)
• Develop the Jacobian matrix for a robotic manipulator arm. (a,c)
• Understand manipulator dynamics. (a,c)
• Work on teams, do presentations and communicate effectively. (d,e, j)
• Carry out research in the area of robotics. (i)
• Use Matlab and Simulink to solve robotic problems. (k)

Course Topics:
Topic Description Hrs

1. Introduction. 3
2. Spatial Orientation. 6
3. Forward Kinematics. 6
4. Inverse Kinematics. 6
5. The Jacobian Matrix. 6
6. Robotic Dynamics. 6
7. Mobile robots 6

Ground Rules: Attendance is required and highly encouraged. To that end, attendance will be taken
every lecture; Absence of more than 7 hours will result in the expulsion of the student from
the course.

Assessments: Exams, Quizzes, Projects, and Assignments.

Grading policy:
Project 20 %
Computerised exam 10 %
Midterm Exam 20%
Final Exam 50 %
Total 100%
Last Updated: Sep. 2015

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