This course provides an introduction to the mechanics of robots and spatial mechanics. The theoretical focus is on kinematics and dynamics of robotic manipulators and control design for non-linear mechanical systems. Topics covered include: homogeneous coordinate transformations, representation of spatial orientation, Denavit-Hartenberg link descriptions, forward and inverse kinematics, Jacobian rate and static force relations, singularities, recursive Newton-Euler iteration and Euler-Lagrange derivations of manipulator dynamics, trajectory planning, linear control, computed torque control, passivity based control. The applied component of the course includes experimental work with robotic manipulators and a mechatronic design and build project.
Learning Outcomes
Upon successful completion, students will have the knowledge and skills to:
By studying this course, students will be
- familiar with the history, concept development and key components of robotics technologies.
- understand basic mathematic manipulations of spatial coordinate representation and transformation.
- understand and able to solve basic robot forward and inverse kinematics problems.
- understand and able to solve basic robotic dynamics, path planning and control problems.
- able to undertake practical robotics experiments that demonstrate the above skills.
Indicative Assessment
Assignments (10%) Computer Lab (10%) Practice project (30%) Final Exam (50%)
The ANU uses Turnitin to enhance student citation and referencing techniques, and to assess assignment submissions as a component of the University's approach to managing Academic Integrity. While the use of Turnitin is not mandatory, the ANU highly recommends Turnitin is used by both teaching staff and students. For additional information regarding Turnitin please visit the ANU Online website.
Workload
12-week lectures and 5 assignments and 5-6 tutorials
Requisite and Incompatibility
Prescribed Texts
Recommended text:
- M. Spong, S. Hutchinson and M. Vidyasager, Robot Modelling and Control, Wiley, 2006.
Other books that may be useful:
- M. Spong, M. Vidyasager, Robot Dynamics and Control, Wiley.
- Sciavicco and Siciliano, Modelling and Control of Robotic Manipulators, Springer
- J. Angeles, Fundamentals of Robotic Mechanical Systems, Mechanical Engineering Series.
- Craig, Introduction to Robotics: Mechanics and Control, Addison-Wesley.
Majors
Minors
Fees
Tuition fees are for the academic year indicated at the top of the page.
If you are a domestic graduate coursework or international student you will be required to pay tuition fees. Students continuing in their current program of study will have their tuition fees indexed annually from the year in which you commenced your program. Further information for domestic and international students about tuition and other fees can be found at Fees.
- Student Contribution Band:
- 2
- Unit value:
- 6 units
If you are an undergraduate student and have been offered a Commonwealth supported place, your fees are set by the Australian Government for each course. At ANU 1 EFTSL is 48 units (normally 8 x 6-unit courses). You can find your student contribution amount for each course at Fees. Where there is a unit range displayed for this course, not all unit options below may be available.
| Units | EFTSL |
|---|---|
| 6.00 | 0.12500 |
Course fees
- Domestic fee paying students
| Year | Fee | Description |
|---|---|---|
| 1994-2003 | $1650 | |
| 2014 | $2952 | |
| 2013 | $2946 | |
| 2012 | $2946 | |
| 2011 | $2946 | |
| 2010 | $2916 | |
| 2009 | $2850 | |
| 2008 | $2592 | |
| 2007 | $2298 | |
| 2006 | $2190 | |
| 2005 | $2190 | |
| 2004 | $2190 |
- International fee paying students
| Year | Fee |
|---|---|
| 1994-2003 | $3450 |
| 2014 | $3762 |
| 2013 | $3756 |
| 2012 | $3756 |
| 2011 | $3756 |
| 2010 | $3750 |
| 2009 | $3618 |
| 2008 | $3618 |
| 2007 | $3618 |
| 2006 | $3618 |
| 2005 | $3534 |
| 2004 | $3450 |
Offerings, Dates and Class Summary Links
ANU utilises MyTimetable to enable students to view the timetable for their enrolled courses, browse, then self-allocate to small teaching activities / tutorials so they can better plan their time. Find out more on the Timetable webpage.
Class summaries, if available, can be accessed by clicking on the View link for the relevant class number.
Second Semester
| Class number | Class start date | Last day to enrol | Census date | Class end date | Mode Of Delivery | Class Summary |
|---|---|---|---|---|---|---|
| 7543 | 21 Jul 2014 | 01 Aug 2014 | 31 Aug 2014 | 30 Oct 2014 | In Person | N/A |
