This paper presents a robotic course that was revised with the ICE (Ideas-, Connections-, Extensions levels) approach of teaching in mind. It includes practical labs where the students have to derive and implement mathematical models and verify those on a manipulator arm mounted on a small mobile robot called KUKA youBot. To support hands-on experience Simulink blocks have been developed to enable sensor readings and control of the youBot. The students implement their models using Simulink and run them to control the youBot manipulator. The labs have been used in several course settings with some modifications. The course also includes a small project where the students use and go beyond the results achieved in the labs, it relates to the Extensions level in ICE. Even though the approach is under development it has been tested and successfully used in a course.