Robotics
G Lowe
4 points
* Second semester
* Clayton
* Prerequisites: RDT3630
and either CSC2070 or MAT2452
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 Practical work: 30%
* Written examination: 50%
*
Assignments: 20%
Prescribed texts
McKerrow P J Introduction to robotics Addison-Wesley, 1991
Recommended texts
Schilling R J Fundamentals of robotics: Analysis and control Prentice-Hall, 1990
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