• Offered by Research School of Engineering
  • ANU College ANU College of Engineering and Computer Science
  • Course subject Engineering
  • Areas of interest Engineering
  • Academic career Undergraduate
  • Course convener
    • Prof Robert Mahony
  • Mode of delivery In Person
  • Offered in Second Semester 2014
    See Future Offerings

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

By studying this course, students will be

  1. familiar with the history, concept development and key components of robotics technologies.
  2. understand basic mathematic manipulations of spatial coordinate representation and transformation. 
  3. understand and able to solve basic robot forward and inverse kinematics problems.
  4. understand and able to solve basic robotic dynamics, path planning and control problems. 
  5. 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

To enrol in this course you must have completed ENGN3331.

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:
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
Domestic fee paying students
Year Fee
1994-2003 $1650
2004 $2190
2005 $2190
2006 $2190
2007 $2298
2008 $2592
2009 $2850
2010 $2916
2011 $2946
2012 $2946
2013 $2946
2014 $2952
International fee paying students
Year Fee
1994-2003 $3450
2004 $3450
2005 $3534
2006 $3618
2007 $3618
2008 $3618
2009 $3618
2010 $3750
2011 $3756
2012 $3756
2013 $3756
2014 $3762
Note: Please note that fee information is for current year only.

Offerings and Dates

The list of offerings for future years is indicative only

Second Semester

Class number Class start date Last day to enrol Census date Class end date Mode Of Delivery
7543 21 Jul 2014 01 Aug 2014 31 Aug 2014 30 Oct 2014 In Person

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