UNIVERSITY OF GONDAR

ATSE FASIL CAMPUS

SCHOOL OF TECHNOLOGY
ELECTRICAL AND COMPUTER ENGINEERING DEPARTMENT

ECEg5234: Introduction to Robotics

Credits-3 (Five contact hours (2, 1), Laboratory Hours (2))
Focus Area
Industrial Control
Engineering

Lecture

Tutorial

Laboratory

Thursday (2:00 to 5.45)

Contact Details
Mr. G. Saravanakumar,
Lecturer/Electrical and Computer Engineering Department
Email: saravana.control@gmail.com

Consult Hours:
Friday to Saturday after the class; request of consulting by the students will be encouraged.

Course Objectives
o To understand the concepts of advanced industrial process control
o To design and simulate typical industrial process control
o To understand and develop state space models
Pre - Requisites
Introduction to Instrumentation
Course Content
The following tentative outline may have a slight change as the course progresses!

1. Introduction to Process control

7.1 Introduction
7.2 Classification of process control strategy
7.3 Hierarchy of process control activities
7.4 An overview of control system design
2. Mathematical modeling of process
2.1 The rationale of dynamic process model
2.2 General modeling principles
2.3 Degrees of freedom analysis
2.4 Dynamic model of representative process
2.5 Modeling from input output data using Matlab
2.6 Transfer function and state space models
3. Feedback controllers
3.1 Basic control modes
3.2 ON/OFF controller
3.3 Proportional, Integral and Derivative controller and Features of PID control
3.4 Typical responses of feedback control system
3.5 Digital version of PID controller
4. PID controller design, Tuning and Troubleshooting
7.1 Performance criteria for closed loop system
7.2 Model based design methods
7.3 Controller tuning relations
7.4 Online controller tuning
5. Feedforward and Ratio control
5.1 Introduction to feedforward control
5.2 Ratio control
5.3 Configuration for feedforward-feedback control
5.4 Tuning feedforward controller

6. Enhanced single loop control strategies

6.1 Cascade control
6.2 Dead time compensation
6.3 Inferential control
6.4 Selective control and override system
6.5 Nonlinear control system
6.6 Adaptive control system
7. Multiloop and multivariable control
7.1 Process interaction and control Loop interactions
7.2 Pairing of control and manipulated variable
7.3 Singular value analysis
7.4 Tuning of multiloop PID control system
7.5 Decoupling and multivariable control strategies
8. Fuzzy logic Controller
6.1 Fuzzy system
6.2 Structure of fuzzy controller
6.3 Examples
9. Distributed control system
7.1 Basic functions
7.2 Evolution of DCS
7.3 Architecture of DCS
7.4 Local control Unit

References
Seborg D, Edgar F, Mellichamp D, Process dynamics and control, Wiley New York, 2nd Edition, 2003.
Curtis D Johnson, Process Control Instrumentation Technology, Prentice Hall, 8th Edition, 2006
George stephanopolous, Chemical process control: An Introduction to theory and Practice, Prentice hall,
2nd Edition.
D.R. Coughanowr, Process Systems Analysis and Control, McGraw-Hill, 2nd Edition,1991
Teaching & Learning Methods
Lecture supported by Tutorial, Assignment and Laboratory exercise.
Assessment/Evaluation & Grading System
Assignments and Quiz (20 %), Lab(15%), Mid-semester Exam (25%), Final exam (40%).
Requirements according to Course policy
75% Lecture and 100% Laboratory attendance, Academic honesty, punctuality (late comers more than 5
minutes will not be allowed to enter), Active participation through interaction and discussion is essential in the
class; Cell phones MUST be turned off before entering the class.

Department of Electrical and computer engineering

University of Gondar Faculty of Technology
Course Number

ECEg 5234

Course Title
Degree Program
Module

Introduction to Robotics
BSc in Electrical and computer engineering
Embedded System Module

Module Coordinator

N.N.

Lecturer

Service course by ECE department

ECTS Credits

Contact Hours (per

week)
Course Objectives &
Competences to be
Acquired

Course
Description/Course
Contents

Cr.

lecture

tutorial

lab

Home study

Understand the elements of an industrial robot

Understand modeling and control techniques of robots
Use their mathematical knowledge to design trajectories
and end effectors
Program robotic manipulators
Acquaintance with artificial intelligence applications in
robotics
Robotic Fundamentals
Introduction, Robot kinematics; Rigid Transformations; Robot
Anatomy; Kinematics
Robot mechanisms
Actuation, sensing, detection, control;
Modeling and Control of Manipulators
Newtons equations; Euler Lagrange method; motion
control; manipulator control; trajectory generation;
computer control
Robot Applications and Programming in robotics
Artificial intelligence, Pick and place; spot and arc welding;
surface
coating; assembly

Pre-requisites
Semester

Introduction to Control Engineering

5th year 2nd semester

Status of Course

Compulsory

Teaching & Learning

Methods

Lecture supported by tutorial, assignment

Assessment/Evaluati
on

Assignment 20%, Mid semester 30%, Final Exam 50%

Attendance
Requirements

75 % Lecture attendance

Literature

Basic texts :
1. Introductory Robotics ,J. M. Selig, Department of
Electrical and Electronic Engineering, South Bank
Polytechnic ,Prentice Hall New York London Toronto
Sydney Tokyo Singapore.
2. John J.Craig: Introduction to Robotics, Mechanics and
Control, Prentice-Hall; Auflage: 3rd edition July 27,2004
3. Von Mark W. Spong, Seth Hutchinson, Mathukumalli
Vidyasagar: Robot Modeling and Control, Wiley & Sons;
Auflage: 1st edition Nov 30, 2005).
References:
1.

1. P.J. McKerrow, Addison-Wesley, 1991: Introduction to

Robotics.

2.

2. Murray, R., Li, Z. and Sastry, S. CRC Press, 1994: A

mathematical introduction to robotic