GSE4801

Intelligent mechanisms design ( 6 points, SCA Band 2, 0.125 EFTSL)

Leader:

Offered:
Gippsland First semester 2006 (Day)
Clayton Second semester 2006 (Day)
Malaysia Second semester 2006 (Day)
Gippsland Summer 2006 (Day)

Synopsis: Kinematics representation using Denavit-Hartenberg; homogeneous and differential (Jacobian) transformation. Inverse manipulator kinematics; Jacobians; velocities and static forces. Analysis and mathematical modelling of manipulators dynamics behaviour using Lagrange-Euler dynamics. Methods of manipulators control.

Assessment: Examination: 50% + Assignments/class tests and project work: 50%

Contact Hours: 2 lecture hours, 2 laboratory hours and 2 tutorial hours per week (on-campus)

Prerequisites: GSE2402 or GSE4403