Human & Robot Interaction Lab. (TaarLab)

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  Course plan  PDFicon50x50   


Course Description:

This course is the continous of the course Adcanced Rpbotcas. It aims at introducing and laying down the fundamental of modeling, design, planning ans synthesis of  parallel robots. The materials elaborated during this course tempt to provide an insight into relevant issues into kinematics, statics and dynamics and control of parallel robots.The course is established in such a way that includes readings, 6 homework and three projects. There will be some quizzes, one in-class midterm and a final examination. These examinations will be open book unless otherwise stated. Lectures will be based mainly, but not exclusively, on material in the textbook given below. Students are asked to show they abilities in applying theoretical concepts into practical problems for which one practical projects are envisaged for this end. To provide the essential materials for practical projects several workshops are considered which are given by the TA listed below.

Time: Saturday 15:30--19:00 and Monday 13:00 --14:30

Room: A11

Instructor: Mehdi Tale Masouleh

Teaching Assistant: Monday 14:00 -- 15:30

  1. Amir-Hossein Karimi (Singularity-free workspace of Parallel Robots)
  2. Iman Yahyapour & Milad Hassanvand (Dynamic and Control of Parallel Manipulators)
  3. Behzad Mehrafrouz (MEX for Dynamic of Serial Manipulators)
  4. Hamid Farzaneh (Singularity-free worksapce of Parallel Robots using Interval Analysis)
  5. Mojtaba Yazdani (Design concepts of Parallel Robots)

Office Hours: 9:00-10:00 Wednesday



  1. Parallel Robots,  Jean-Pierre Merlet
  2. Type Synthesis of Parallel Mechanisms, Xaniwen Kong and Clément Gosselin


  • LATEX2e (Words typeset are not accepted)
  • Matlab
  • Maple
  • A CAD software (Preferably SolidWorks)
  • Last but not least: Patience

Course Outline:

Parallel Robots -- 14 weeks
Chapter 1- Screw Theory- Computing DOF and motion pattern-Overconstatin Parallel Robots. Basic concept on type synthesis of parallel robots approx 2 weeks
Quiz I                        
Chapter 2- Jacobian of parallel robots using screw theory- Constraint singularity approx 1 weeks
Quiz II
Chapter 3- Inverse and Forward kinematic in Euclidean space approx 2 weeks
Quiz III                                   
Chapter 4-Inverse and Forward kinematic in 7-dimensional kinematic space   approx 3 week
Chapter 5- Singularity of parallel robots using Grassmann line geomtery approx 2 weeks
First Exam 4 hours
Chapter 6- Static of Parallel Robots approx 1 weeks
Chapter 7- Workspace of parallel robots approx 1 weeks
Chapter 8- Kinetostatic and stifness analysis of parallel robots approx 1 weeks
Chapter 9- Singularity-free workspace of parallel robots approx 1 weeks
Chapter 10- Dynamic of parallel robots approx 1 weeks
Chapter 11- Control of parallel robots  




Projects: Works done by students are of two sorts:

    1. Five Homeworks: Homeworks are essentially based on theoretical concepts and are designated to get familiar students with basic issue of parallel robots.
    2. One Practical Project: Practical project is considered in this course in order to make a connection between theoretical concept and practical concepts. The practical 
      project consist in the appltying the following for a given parallel robot (Important: Approved parallel robot by instructor can be considered)

    • DOF, motion patterin
    • Inverse and kinematic problem in Euclidean space 
    • Inverse and kinematic problem in 7-dimensional kinematic space
    • Inverse and forward dynamic problem 
    • Veryfing the results of inverse and dynamic problem with ADAMS
    • Veryfing the results with the prototype in laboratory (if you are working with Agile Eye 2-DOF)
    • Control

Report: Homeworks should be done individually, unless otherwise is  stated,   and plagiarism is not tolerated. In the case of plagiarism,  the note of the corresponding work would be marked as zero. All the reports should be typeset  in LATEX, upon following the class proposed by IEEE. The report should follows the the instruction given by IEEE and includes:

  • Abstract
  • Introduction
  • Main body (each section should corresponds to a problem)
  • Conclusion
  • Reference

Academic Honesty: As a University of Tehran student, you have agreed to abide by the University's academic honesty policy. A  Lack of knowledge of the academic honesty policy is not a reasonable explanation for a violation. Questions related to course assignments and the academic honesty policy should be directed to the instructor.. 

 In this regard, we invite you to see the following clip in order to have a better understanding in how we are able to find out whether  your homework is done by yourself or one of your classmate. Kolah Ghermezi TaarLab

Extra Help: Dot not hesitate to come to my office or contact me during office hours or by appointment to discuss a homework problem or any aspect of the course. Moreover, TA considered for each part  are also at your total disposal for helping you in your homework, projects and exams.

Important Dates and Grades: Quiz (1% each)  and Exams (10% each) are scheduled based on the calender provided in the course outline and  have flexible date.


Homeworks (7% each)

First Homework 
Second Homework  
Third Homework  
Fourth Homework (Take Home Exam)  
Fifth Homework    
Sixth Homework    


Projects (11% each)

First Project 1392/02/01  submit
Second Project 1392/03/15  
Third Project 1392/05/01  

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