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 industrial robot manipulators. Topics include the development of the 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. Modules run Monday morning midnight to Sunday 11:59pm ET, but open the prior Friday morning to give you two weekends to work.

Please refer directly to assignments in Canvas for due dates and deliverables.

Course Topics

For the list of course topics please refer to the Course Outline found in the Course Information Module.

Course Goals

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

Course Learning Outcomes (CLOs)

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

Textbooks

Spong, M., & Hutchinson, S. (2020). 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
Lynch, K. M., & Park, F. C. (2019). Modern Robotics - Mechanics, planning, and control. Cambridge University Press. ISBN 978-1-316-609-84-2

Required Software

In this course, you will need to use both MATLAB and CoppeliaSim. Directions for installation and use are in the Canvas Course Information Module.
Technical Skills and Digital Information Literacy Skills ExpectedThis course requires proficiency in digital information literacy and technical skills. Students should be comfortable using Microsoft Office applications, particularly Word, PowerPoint, and introductory-level Excel. Students will need to use MATLAB and/or Python, and CoppeliaSim robotics modelling software. Installation and use directions are included in the Canvas Course Site.

Student Coursework Requirements

It is expected that each module will take approximately 7–12 hours per week to complete. 

Grading and Assignments

• Discussions (10%) 
• Assignments (40%)
• Course Project (20%)
• Midterm Exam (10%)
• Final Exam (20%)

Please refer to Canvas course site for specific assignment due dates and deliverables. Course grading and use of AI policies are located in the Canvas Course Information Module.

Grading Policy

I will make every effort to have grades posted within one week of due date and will utilize course announcements if grading will be delayed.

EP uses a +/- grading system (see “Grading System”, Graduate Programs catalog, p. 10).

Score Range	Letter Grade
100-97	= A+
96-93	= A
92-90	= A−
89-87	= B+
86-83	= B
82-80	= B−
79-77	= C+
76-73	= C
72-70	= C−
69-67	= D+
66-63	= D
<63	= F

Course Policies

Course grading and use of AI policies are located in the Canvas Course Information Module.

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. 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. Our courses are designed with a proactive approach to accessibility to minimize the need for disability disclosure and accommodation requests, but we recognize that you may need additional support. 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 EP Student Disability Services at 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 Student Conduct Code website.

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.