INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA

COURSE OUTLINE
Kulliyyah / Institute

Engineering

Department / Centre

Mechatronics Engineering

Programme

B. Eng (Mechatronics) (Honours)

Name of Course / Mode

Robotics /Full time

Course Code

MCT 4215

Name (s) of Academic

staff / Instructor(s)

Dr. Md Mozasser Rahman

Rationale for the

inclusion of the course /
Required course for Mechatronics Engineering Programme
module in the programme
Semester and Year
Offered

Every Semester

Status

Core

Level

Proposed Start Date

Sem 1, 2014/2015

Final

14

Assessments
Midterm

28

Practical

Total Student Learning

Time (SLT)

Tutorial

Lecture

Face to Face

Independent Learning

Batch of Student to be
Affected
Total
Student
Learning
Time

71

118

Credit Value / Hours

3/118

Pre-requisites (if any)

MCT 2212, MCT 3222

Co-requisites (if any)

None

Course Objectives

The objectives of this course are to:

1. Introduce students to the fundamental of robotics and
applications.
2. Expose students to the robot kinematics and dynamics.
3. Familiarize students to control features of robots.
4. Expose students to different applications of robots in industry.

5. Introduce students to mobile robots and autonomous

navigation system.

Learning Outcomes

Transferable Skills:

Teaching-Learning and
assessment strategy

Upon completion of the course students should be able to:

1. Identify the structure of any robot, degrees of freedom,
type of joints, sensors and actuators attached and the
robot workspace.
2. Analyze the forward and inverse kinematics using
Denavit-Hartenberg representation.
3. Formulate the robot Jacobian and the equations of motion.
4. Develop the robot trajectory in joint space and Cartesian
space for specified tasks.
5. Design the control scheme for specific robot application.
Skills and how they are developed and assessed:
Skills
Development
Assessment
Technical
Lectures
Written Assessment
Analytical
Projects
Report
Lectures, Projects report and Quizzes

Overview of robots. Robot kinematics and dynamics. Control and

sensing systems, robot vision. Programming and interfacing.
Basics of robot design and robot test. Applications of robots.
Lecture, Tutorial, etc.
Mode of Delivery
LO
Method
%
1,2,3,4,5 Quiz
15
Assessment Methods and
2,3,4
Projects
10
Type/Course Assessement
12345
Assignments
10
State weightage of each
1,2,3
Mid-term Exam
25
type of assessment.
1,2,3,4,5 Final Exam
40
Course Synopsis

Mapping of course / module to the Programme Learning Outcomes

Programme Outcomes
Learning Outcome of the course
01

02

03

04

05

06

07

08

09

10

11

12

Identify the structure of any robot, degrees of

freedom, type of joints, sensors and actuators

attached and the robot workspace. (C1)
Analyze the forward and inverse kinematics using

Denavit-Hartenberg representation. (C4, CT1)

Formulate the robot Jacobian and the equations of

motion. (C5,CT2)
Develop the robot trajectory either in joint space or

Cartesian space for specified tasks. (C5,CT3)

Design the control scheme for specific robot

application. (C5,CT2)
Content outline of the course / module and the SLT per topic
Learning
Weeks
Topics
Task/Reading
Hours
Fundamentals: Introduction to robotics and components.
1
Chapter 1

Robot degrees-of-freedom, robot joints, robot

coordinates and work space, robot reference, Robot
applications. advantages and disadvantages of robots,
Actuators: characteristics of actuating systems,
comparison of actuating systems, hydraulic devices,
pneumatic devices, electric motors.
Sensors: sensor characteristics, position sensors, velocity
sensors, acceleration sensors, force and pressure sensors,
torque sensors.
Robot kinematics and Position Analysis: Matrix
representation, homogeneous transformation matrices,
inverse of transformation matrices,
Denavit-Hartenberg representation

The inverse kinematic solution of robots.

2
3
4
5

8
9
10
11
12
13
14

Chapter 1
Chapter 7
Chapter 8
Chapter 2
Chapter 2
Chapter 2

Trajectory Planning: Joint space and Cartesian space,

Trajectory planning.
Differential Motions and Velocities: Differential
relationships, Jacobian, differential motion of a frame,
interpretation of differential change,
Differential motion of a robot and its hand frame,
calculation of Jacobian, inverse Jacobian.
Dynamic Analysis and Forces: Lagrange mechanics:
Effective moment of inertia, dynamic equations for
multiple-degree-of-freedom robots,
Static force analysis. Transformation of forces and
moments between coordinate frames.
Control Scheme for Robotic Manipulator.

Chapter 5
Chapter 3
Chapter 3
Chapter 4
Chapter 4
Chapter 6

Autonomous Mobile Robot

Required references supporting the course

Handout

The reference lists shall be presented in accordance with APA bibliographic practices and in alphabetical order.

Niku, S. B., (2012). Introduction to Robotics, Analysis, Systems, Applications, Prentice Hall,
Recommended references supporting the course
Craig, J. J. (2005). Introduction to Robotics, (3nd ed.), Prentice Hall.
Spong, M.W., & Vidyasagar, M., (1989). Robot Dynamics and Control, John Wiley.
Prepared by:

Checked by:

Approved by:

Dr. Md Mozasser Rahman

Kulliyyah of Engineering

Dr. Md. Raisuddin Khan

Associate Professor
Head of Department
Mechatronics Engineering

Prof. Emeritus Dato' Wira

Ir. Dr. Md Noor bin Salleh
Dean
Kulliyyah of Engineering

Programme Learning Outcome (PO): At the end of the programme, Students are able to:
No

Programme Outcome for KOE, IIUM

1.

Engineering Knowledge (T) -Apply knowledge of mathematics, sciences, engineering

fundamentals and an engineering specialization to the solution of complex engineering
problems;

2.

Problem Analysis (T) Identify, formulate, research relevant literature and analyze complex
engineering problems, and reaching substantiated conclusions using first principles of
mathematics, natural sciences and engineering sciences;

3.

Design/Development of Solutions (A) Design solutions, exhibiting innovativeness, for

complex engineering problems and design systems, components or processes that meet
specified needs with appropriate consideration for public health and safety, cultural, societal,
economical, ethical, environmental and sustainability issues.

4.

Investigation (D) Conduct investigation into complex problems, displaying creativeness, using
research-based knowledge, and research methods including design of experiments, analysis and
interpretation of data, and synthesis of information to provide valid conclusions;

5.

Modern Tool Usage (A & D) -Create, select and apply appropriate techniques, resources, and
modern engineering and IT tools, including prediction and modelling, to complex engineering
activities, with an understanding of the limitations;

6.

The Engineer and Society (ESSE) -Apply reasoning based on contextual knowledge to assess
societal, health, safety, legal, cultural, contemporary issues, and the consequent responsibilities
relevant to professional engineering practices.

7.

Environment and Sustainability (ESSE) -Understand the impact of professional engineering

solutions in societal, global, and environmental contexts and demonstrate knowledge of and
need for sustainable development;

8.

Ethics (ESSE) Apply professional ethics with Islamic values and commit to responsibilities
and norms of professional engineering code of practices.

9.

Communication (S) -Communicate effectively on complex engineering activities with the

engineering community and with society at large, such as being able to comprehend and write
effective reports and design documentation, make effective presentations, and give and receive
clear instructions;

10

Individual and Team Work (S) -Function effectively as an individual, and as a member or
leader in diverse teams and in multi-disciplinary settings.

11.

Life Long Learning (S) -Recognize the need for, and have the preparation and ability to
engage in independent and life-long learning in the broadest context of technological change.

12.

Project Management and Finance (S) -Demonstrate knowledge and understanding of

engineering management and financial principles and apply these to ones own work, as a
member and/or leader in a team, to manage projects in multidisciplinary settings, and identify
opportunities of entrepreneurship.

The program learning outcomes (PO) are grouped into 5 general areas to identify the nature of
the skills and capability involved. These groups are:
1. Technical (T) essential capabilities related to traditional scientific and engineering
knowledge
2. Analysis (A) creatively working with available data and engineering tools and fundamental
knowledge to correctly solve basic problem
3. Design (D) being able to perceive the best solution for both small scale and large scale
project by involving all required basic problems
4. Ethics, Safety, Society and Environment (ESSE) - giving appropriate consideration to matters
pertaining to professionalism and ethics, safety, local and global society and the environment
5. Work skills (S) being and effective communicator and effective member of a team and to
appreciate the need to continuously acquired skills and abilities.