CSE3133

Fundamentals of robotics

G Lowe

6 points - Two-hour lecture and two-hour laboratory practical work per week - First semester - Clayton - Prerequisites: MAT1812 or MAT1020, CSC1030/CSC1062/CSE1303/CSE1306

Objectives At the completion of the subject students should be able to understand the mechanical and electrical fundamentals of industrial robots; and program robots for simple laboratory tasks.

Synopsis This subject addresses the range of applications for industrial robots, the underlying mechanical structure of robots, and the programming methods used for industrial robots. The syllabus covers: an 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, and force sensing and control.

Assessment Examination (3 hours): 60% - Assignments: 16% - Laboratory practical work: 24%

Prescribed texts

Mc Kerrow P J Introduction to robotics Addison-Wesley, 1991

Recommended texts

Schilling R J Fundamentals of robotics Prentice-Hall, 1990

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