Introduction to Robotics
Download in PDF- Lecturer: Faiz BEN AMAR (faiz.ben_amar@sorbonne-universite.fr)
- Course code: UM4RBR13
- Student workload: 12h of lectures, 8h of tutorials, 8h of labs
- Credits: 3 ECTS
- Specialization tracks:
- Semester offered: S1 S2 S3 S4
- Language of instruction: French English
- Targeted audience: Eng. Sc. department Other :
- Localization : PMC Campus Other :
Course Overview
This course aims to train students in the geometric and kinematic modeling of serial manipulator robots. Based on examples of simple manipulation tasks such as taking down or following a trajectory, it introduces the basic concepts of robotics, such as the space of operational parameters, the space of joint parameters, forward and inverse models.
Mots-clés : Serial manipulator robot, operational space, joint space, rotation matrix, homogeneous transformation matrix, DH convention, direct and inverse geometric models, direct and inverse kinematic model, Jacobian, singularities, manipulability ellipsoid, redundancy and optimization
Prerequisites
Students should have previously acquired the following prerequisites to follow this course:
- Know the following mathematical tools: trigonometric functions, vector calculus, linear algebra, matrix calculus
- Knowing how to parameterize a solid in space
Intended Learning Outcomes
By the end of this course, students will be able to:
- parameterize a robot in the operational space with Cartesian parameters
- parameterize a manipulator robot in the joint space with the DH convention
- use homogeneous transformation matrices in displacement composition
- write the direct geometric model of a manipulator robot
- calculate the inverse geometric model of a non-redundant analytical manipulator robot
- describe the space accessible by the end-effector of a non-redundant manipulator robot
- analyze the kinematics of a serial robot: mobility, model, Jacobian, singularity, internal mobility, gear transmission
Indicative Teaching Sequence and Methods
| Week | C/TD/TP* | Content | Preparation | Learn.\ outc. |
|---|---|---|---|---|
| S1 | Cours | Rotation and transformation | AAV1 | |
| S2 | Cours | Geometric modeling of serial robots: DH parameterization | AAV2 | |
| S3 | TD | Rotation and transformation | AAV1 | |
| S4 | Cours | Geometric modeling of serial robots: direct model | AAV2-AAV3-AAV4 | |
| S5 | Cours | Geometric modeling of serial robots: inverse model | AAV4-AAV5 | |
| S6 | TD | Geometric modeling of serial robots: DH parameterization | AAV4-AAV5 | |
| S7 | TD | Geometric modeling of serial robots: direct and inverse model | AAV4-AAV5 | |
| S9 | TP | Handling the equipment (4 ddl robot) | AAV4-AAV5 | |
| S10 | Cours | Kinematic modeling of series robots | AAV7 | |
| S11 | Cours | Kinematic modeling of serial robots: Jacobienne | AAV7 | |
| S12 | Cours | Kinematic modeling of serial robots: Singularities, Redundancy, Optimization | AAV7 | |
| S13 | TD | Kinematic modeling of series robots | AAV7 | |
| S14 | TP | Programming an inverse geometric model of a robot | AAV5-AAV6 |
- C/TD/TP respectively corresponds to lectures, tutorials and lab sessions.
Indicative Assessment of Intended Learning Outcomes (1st session)
| Week | Individ./group | In-person/remote | Type of exam | Evaluated outcomes | Scale % |
|---|---|---|---|---|---|
| S8 | Individual | In-person | Quiz | AAV1-4 | 15% |
| S16 | Individual | In-person | Written | AAV1-7 | 60% |
| S14 | Individual | In-person | Practical | AAV1-7 | 25% |
2nde session
| Session | Individ./group | In-person/remote | Type of exam | Evaluated outcomes | Scale % |
|---|---|---|---|---|---|
| 2 | Individual | In-person | Written | AAV1-7 | 75% |
| 1 | Individual | In-person | Practical | AAV1-7 | 25% |
Bibliographic references
- W. Khalil et E. Dombre, Modélisation, identification et commande des robots
Date of generation of this unit description: 14/01/2026
