- Code ENGN4627
- Unit Value 6 units
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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Workload3 x 1 hour lecture. 1 hour tutorial, 3 hours lab time, 2 hours independent study time - per week
Requisite and Incompatibility
to Autonomous Mobile Robots, second edition, By Roland Siegwart et al,
MIT Press, 2011.
Tuition fees are for the academic year indicated at the top of the page.
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- Student Contribution Band:
- Unit value:
- 6 units
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|Class start date
|Last day to enrol
|Class end date
|Mode Of Delivery
|24 Jul 2017
|31 Jul 2017
|31 Aug 2017
|27 Oct 2017