6 points, SCA Band 2, 0.125 EFTSL
Undergraduate - Unit
Refer to the specific census and withdrawal dates for the semester(s) in which this unit is offered.
Department of Mechanical and Aerospace Engineering
Dr Chao Chen (Clayton)
- First semester 2017 (Day)
Spatial descriptions and transformations. Manipulator forward and inverse kinematics. Differential relationships and Jacobian. Manipulator dynamics: Lagrangian and Newton Euler formulations. Design of mechanisms and end-effectors. Actuation, sensing and control. Computational geometry for design, manufacture, and path planning. Robotics in manufacturing and automation. Techniques for modelling, simulation and programming of robotic tasks. Advanced mathematical formulations. Introduction to advanced robotics. A self-directed learning component completes the unit.
At the successful completion of this unit you will be able to:
- Analyse problems of direct and inverse kinematics.
- Generate robotic dynamics models by using both Lagrangian formula and New-Euler equations.
- Design linear and nonlinear motion controllers and force controllers.
- Design robotic tasks using methods of path planning and kinematics.
- Appraise the design and performance of serial robotic manipulators in terms of kinematics, workspace and dynamics.
Examination (3 hours): 70% + Project and laboratory work: 30%
Students are required to achieve at least 45% in the total continuous assessment component and at least 45% in the final examination component and an overall mark of 50% to achieve a pass grade in the unit. Students failing to achieve this requirement will be given a maximum of 45% in the unit.
3 hours lectures, 3 hours laboratories/tutorials and 7 hours of private study per week.
See also Unit timetable information