535.630.81 - Kinematics & Dynamics of Robots

Expanded Course Description

Through lectures, and the development of mathematical models, computer programing exercises, and a term project this course illustrates the fundamental knowledge for the development of the kinematic and dynamic models of the industrial robot manipulators. Topics include the development of mathematical foundation for modeling robots, rigid body motions in space, forward and inverse kinematics, velocity kinematics, and dynamics of robot manipulators.

Course Structure

The course materials are divided into modules which can be accessed by clicking Modules on the course navigation menu in Canvas. A module will have several sections including the overview, content, readings, discussions, and assignments. You are encouraged to preview all sections of the module before starting. Most modules run for a period of seven (7) days, exceptions are noted on the Course Outline page. You should regularly check the Calendar and Announcements for assignment due dates.

Course Topics

For the list of course topics please refer to course outline file. 

Course Goals

To introduce fundamental concepts in kinematics and dynamics of robot manipulators and to provide students with knowledge and tools to develop mathematical models of the kinematics and dynamics of the industrial manipulators.

Course Learning Outcomes (CLOs)

• Identify and apply fundamental techniques for modeling and analyzing the kinematics and dynamics of the robot manipulators.
• Develop computer programs modeling robots and solving for robot motion and their dynamic interactions.

Textbooks

Spong, M., & Hutchinson, S. (2006). Robot modeling and control. Hoboken, NJ, John Wiley & Sons. ISBN-13 978-0-471-64990-8

Textbook information for this course is available online through the appropriate bookstore website: For online courses, search the MBS website at http://ep.jhu.edu/bookstore

Other Materials & Online Resources

 Optional text book - not a requirement
Kevin M. Lynch & Frank C. Park (2019). Modern Robotics - Mechanics, Planning, and Control, Cambridge University Press. ISBN 978-1-316-609-84-2

Required Software

Matlab: You will need access to a recent version of MATLAB with the Signal Processing Toolkit. The MATLAB Total Academic Headcount (TAH) license is now in effect. This license is provided at no cost to you. Send an email to software@jhu.edu to request your license file/code. Please indicate that you need a standalone file/code. You will need to provide your first and last name, as well as your Hopkins email address. You will receive an email from Mathworks with instructions to create a Mathworks account. The MATLAB software will be available for download from the Mathworks site.

Coppelia Sim:  You will also need to download CoppeliaSim software for robot simulation. This is a free software and can be .downloaded from https://www.coppeliarobotics.com

Student Coursework Requirements

It is expected that each module will take approximately 7–12 hours per week to complete. Here is an approximate breakdown: reading the assigned sections of the texts (approximately 3-5 hours per week) as well as some outside reading, listening to the audio annotated slide presentations (approximately 1–2 hours per week), and writing assignments (approximately 3-5 hours per week).
This course will consist of four basic student requirements:
1. Course Discussions (10% of Final Grade Calculation) I would like for you to collaborate and learn from one another in this course to make it a rich learning experience for all of us. The course discussions are divided in to two categories:
i. Sharing and discussing approaches that you have used to complete problems in this course (assignments). You are not required to respond to other classmates’ posts because the aim is to create an organic conversation, however, it is strongly encouraged.
ii. Responding to instructor generated discussion questions related to the content and concepts covered in this course. For these discussion you are required to respond to at least two classmates. Just posting your response to a discussion question is not sufficient; we want you to interact with your classmates. Be detailed in your postings and in your responses to your classmates' postings. Feel free to agree or disagree with your classmates. Please ensure that your postings are civil and constructive. Post your initial response to the discussion questions by the evening of day 3 for that module week. Posting a response to the discussion question is part one of your grade for module discussions (i.e., Timeliness). I will monitor module discussions and will respond to some of the discussions as discussions are posted. In some instances, I will summarize the overall discussions and post the summary for the module. Evaluation of preparation and participation is based on contribution to discussions. Preparation and participation is evaluated by the following grading elements:
1. Timeliness (50%) 2. Critical Thinking (50%)
Preparation and participation is graded as follows:
100–90 = Timeliness [regularly participates; all required postings; early in discussion; throughout the discussion]; Critical Thinking [rich in content; full of thoughts, insight, and analysis].
89–80 = Timeliness [frequently participates; all required postings; some not in time for others to read and respond]; Critical Thinking [substantial information; thought, insight, and analysis has taken place].
79–70 = Timeliness [infrequently participates; all required postings; most at the last minute without allowing for response time]; Critical Thinking [generally competent; information is thin and commonplace].
<70: Timeliness [rarely participates; some, or all required postings missing]; Critical Thinking [rudimentary and superficial; no analysis or insight is displayed]​​

Assignments (40% of Final Grade Calculation)
Assignments will include quantitative problem sets, and computer programs. Include a cover sheet with your name and assignment identifier. Also include your name and a page number indicator (i.e., page x of y) on each page of your submissions. All assignments are due according to the dates in the Calendar. Late submissions will be reduced by 10 points for each week late (no exceptions without prior coordination with the instructor(s). Quantitative assignments are evaluated by the following grading elements :
i. Intermediate derivations and calculations are clearly provided, but with substantial errors in assumptions and methods (25%)
ii. Intermediate derivations and calculations are clearly provided and general approach /assumptions is correct (80%)
iii. Answer is technically correct and is clearly indicated (20%)

3. Course Project (20% of Final Grade Calculation)
A course project (commonly a comprehensive computer program) will be assigned several weeks into the course. The course project will have several sections and the submission deadline for each section will be distributed throughout the second half of the course (after mid-term). In addition, The next-to-the-last week will be devoted to the final section of the course project. The course project is evaluated by the following grading elements:
i. Student technical understanding of the course project topic (20%)
ii. Student participation in discussion board for the project (10%)
iii. Clarity in the computer programs with satisfactory comments and documentation describing the algorithms (20%)
iv. Accuracy of the algorithms for performing the required tasks/routines and addressing all the elements of the project as indicated by the problem statement (40%)

4. Exam[s] (30% of Final Grade Calculation, combined from 10% for Midterm and 20% for Final)
The midterm exam will be available in Module 7 and the final exam will be available in the last Module. You will have one week to complete the exams and they will be due by 11:59 PM Eastern Time exactly one week from their release. You may use the course text to complete the exams. The exams may include 4-6 quantitative problems. The exams are evaluated by the following grading elements per each problem:
i. Clarity, technical accuracy, and providing sound rationale when needed (90%)
ii. Correct answer (10%)
​​

Grading Policy

Assignments are due according to the dates posted in your Canvas course site. You may check these due dates in the Course Calendar or the Assignments in the corresponding modules. I will post grades one week after assignment due dates. A grade of A indicates achievement of consistent excellence and distinction throughout the course —that is, conspicuous excellence in all aspects of assignments and discussion in every week. A grade of B indicates work that meets all course requirements on a level appropriate for graduate academic work. 
100–98 = A+
97–94 =  A
93– 90 = A−
89–87 = B+
86-83  = B
83-80 = B−
79–77 = C+
76-73 = C
72-70 = C-
69-67 = D+
66-63 = D
<63    = F​

Course Evaluation

Final grades will be determined by the following weighting:
Grade Preparation and Participation (Module Discussions) 10%
Assignments 40%
Course Project 20%
Exam[s] (Midterm + Final) 30% (10% + 20%)

Academic Policies

Deadlines for Adding, Dropping and Withdrawing from Courses

Students may add a course up to one week after the start of the term for that particular course. Students may drop courses according to the drop deadlines outlined in the EP academic calendar (https://ep.jhu.edu/student-services/academic-calendar/). Between the 6th week of the class and prior to the final withdrawal deadline, a student may withdraw from a course with a W on their academic record. A record of the course will remain on the academic record with a W appearing in the grade column to indicate that the student registered and withdrew from the course.

Academic Misconduct Policy

All students are required to read, know, and comply with the Johns Hopkins University Krieger School of Arts and Sciences (KSAS) / Whiting School of Engineering (WSE) Procedures for Handling Allegations of Misconduct by Full-Time and Part-Time Graduate Students.

This policy prohibits academic misconduct, including but not limited to the following: cheating or facilitating cheating; plagiarism; reuse of assignments; unauthorized collaboration; alteration of graded assignments; and unfair competition. Course materials (old assignments, texts, or examinations, etc.) should not be shared unless authorized by the course instructor. Any questions related to this policy should be directed to EP’s academic integrity officer at ep-academic-integrity@jhu.edu.

Students with Disabilities - Accommodations and Accessibility

Johns Hopkins University values diversity and inclusion. We are committed to providing welcoming, equitable, and accessible educational experiences for all students. Students with disabilities (including those with psychological conditions, medical conditions and temporary disabilities) can request accommodations for this course by providing an Accommodation Letter issued by Student Disability Services (SDS). Please request accommodations for this course as early as possible to provide time for effective communication and arrangements.

For further information or to start the process of requesting accommodations, please contact Student Disability Services at Engineering for Professionals, ep-disability-svcs@jhu.edu.

Student Conduct Code

The fundamental purpose of the JHU regulation of student conduct is to promote and to protect the health, safety, welfare, property, and rights of all members of the University community as well as to promote the orderly operation of the University and to safeguard its property and facilities. As members of the University community, students accept certain responsibilities which support the educational mission and create an environment in which all students are afforded the same opportunity to succeed academically. 

For a full description of the code please visit the following website: https://studentaffairs.jhu.edu/policies-guidelines/student-code/

Classroom Climate

JHU is committed to creating a classroom environment that values the diversity of experiences and perspectives that all students bring. Everyone has the right to be treated with dignity and respect. Fostering an inclusive climate is important. Research and experience show that students who interact with peers who are different from themselves learn new things and experience tangible educational outcomes. At no time in this learning process should someone be singled out or treated unequally on the basis of any seen or unseen part of their identity. 
 
If you have concerns in this course about harassment, discrimination, or any unequal treatment, or if you seek accommodations or resources, please reach out to the course instructor directly. Reporting will never impact your course grade. You may also share concerns with your program chair, the Assistant Dean for Diversity and Inclusion, or the Office of Institutional Equity. In handling reports, people will protect your privacy as much as possible, but faculty and staff are required to officially report information for some cases (e.g. sexual harassment).

Course Auditing

When a student enrolls in an EP course with “audit” status, the student must reach an understanding with the instructor as to what is required to earn the “audit.” If the student does not meet those expectations, the instructor must notify the EP Registration Team [EP-Registration@exchange.johnshopkins.edu] in order for the student to be retroactively dropped or withdrawn from the course (depending on when the "audit" was requested and in accordance with EP registration deadlines). All lecture content will remain accessible to auditing students, but access to all other course material is left to the discretion of the instructor.