Authorised by Academic Registrar, April 1996
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 RDT3630, 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 Practical work: 30% + Written examination: 50% + Assignments: 20%