Robotics
G Lowe
4 points * Second semester * Clayton * Prerequisites: RDT3630 and either MAT2452 or CSC2070
Robot geometry and frame assignment. Representation of translation and orientation. Forward kinematics, position, velocity and acceleration. Inverse kinematics, closed-form and iterative methods. Position control in Cartesian space. Singularities of robot motion. Manipulator calibration. Manipulator dynamics. Position control in joint space. Servo-loop technology, control computations. Force sensing and control.
Assessment
Practical work: 30% * Written examination: 50% * Assignments: 20%
Prescribed texts
McKerrow P J Introduction to robotics Addison-Wesley, 1991
Recommended texts
Schilling R J Fundamentals of robotics: Analysis and control Prentice-Hall, 1990