• 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
    • Dr Viorela Ila
  • Mode of delivery In Person
  • Co-taught Course ENGN6627
  • Offered in Second Semester 2017
    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

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 

Indicative Assessment

  • Practical Labs - (30%)
  • Term research project - (20%)
  • Project report/seminar presentation - (10%) 
  • Problem Sets and/or  Final Examination - (40%)

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

3 x 1 hour lecture. 1 hour tutorial, 3 hours lab time, 2 hours independent study time - per week

Requisite and Incompatibility

To enrol in this course you must have completed ENGN3331. Incompatible with ENGN6627.

Prescribed Texts

Recommended text:

  • Introduction to Autonomous Mobile Robots, second edition,  By Roland Siegwart et al, MIT Press, 2011.

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. Tuition fees are indexed annually. 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
2017 $3852
International fee paying students
Year Fee
2017 $5130
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
7805 24 Jul 2017 31 Jul 2017 31 Aug 2017 27 Oct 2017 In Person

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