CSE3134

Robotics

G Lowe

6 points - Two-hour lecture and two-hour practical per week - Second semester - Clayton - Prerequisites: CSE3133

Objectives At the completion of the subject students should be able to understand the computational complexity of forward and inverse kinematics; and understand the computational requirements for industrial-robot control.

Synopsis This subject, a continuation of DGS3630, addresses the kinematics and dynamics of robots and the control strategies used for industrial robots. The syllabus covers 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; and force sensing and control.

Assessment Examination (3 hours): 50% - Practical work: 30% - Assignments: 20%

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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