Fundamentals of robotics
G Lowe
4 points * First semester * Clayton * Prerequisites: MAT1020, RDT1400 or CSC1030/CSC1062
Introduction to industrial robotics, robot applications. Robot drive systems. Joint position and velocity sensing. Industrial-robot programming methods. End-effectors, design and application. External sensors, visual, tactile. Manipulator kinematics. Dynamics of robot arms. Joint-space feedback control. Inverse kinematics. Path planning in Cartesian space. Force sensing and control.
Assessment
Examination (2 hours): 60% * Written assignments: 16% * Laboratory practical work: 24%
Prescribed texts
McKerrow P J Introduction to robotics Addison-Wesley, 1991
Recommended texts
Klafter R D Robotic engineering: An integrated approach Prentice-Hall, 1989
Miller R K Robotic applications in non-industrial environments vols 1 and 2, Norcross, 1991
Schilling R J Fundamentals of robotics Prentice-Hall, 1990