- Code ENGN4627
- Unit Value 6 units
- Offered by Research School of Engineering
- ANU College ANU College of Engineering and Computer Science
- Course subject Engineering
- Areas of interest Engineering
- Academic career UGRD
- AsPr Hongdong Li
- Mode of delivery In Person
Second Semester 2015
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.
Upon successful completion, students will have the knowledge and skills to:1. Be familiar with the history, concept development and key components of robotics technologies.
2. Be familiar with various robot sensors and their perception principles that enable a robot to analyse their environment, reason and take appropriate actions toward the given goal.
3. Understand and able to analyse and solve problems in spatial coordinate representation and spatial transformation, robot locomotion design, kinematics, motion control, localization and mapping, navigation and path planning.
4. Be able to apply and demonstrate the learned knowledge and skills in practical robotics laboratories and experiments.
5. Be able to design and implement a robotic project on a physical mobile robot platform, with tasks involving project specification, algorithm design, software programming, simulation and modelling, control and obstacle avoidance in a complex and interactive environment.
6. Enhancing communication skills through project report and seminar presentation.
Professional Skills Mapping:
Mapping of Learning Outcomes to Assessment and Professional Competencies
- Practical Labs - (30%)
- Term research project - (20%)
- Project report/seminar presentation - (10%)
- Problem Sets and/or Final Examination - (40%)
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12-week lectures and 5 assignments and 5-6 tutorials
Requisite and Incompatibility
to Autonomous Mobile Robots, second edition, By Roland Siegwart et al,
MIT Press, 2011.
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- Student Contribution Band:
- Unit value:
- 6 units
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Offerings, Dates and Class Summary Links
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Class summaries, if available, can be accessed by clicking on the View link for the relevant class number.
|Class number||Class start date||Last day to enrol||Census date||Class end date||Mode Of Delivery||Class Summary|
|1981||20 Jul 2015||07 Aug 2015||31 Aug 2015||30 Oct 2015||In Person||N/A|