Robotics
B Shirinzadeh
4 points * 22 lectures, 6 tutorials, 8 laboratory hours * First semester * Clayton
Objectives The subject is intended to provide the fundamental concepts in the field of robotics. The student is expected to acquire the knowledge and understanding of the basic theory, together with applications in practical situations.
Synopsis Spatial descriptions and transformations. Manipulator forward and inverse kinematics. Differential relationships and Jacobian. Manipulator dynamics: Lagrangian and Newton Euler formulations. Design of manipulators 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. Image processing and analysis. Advanced mathematical formulations: quaternions, screw theory, linear and non linear programming, etc. Introduction to advanced robotics: skilled robotic manufacturing, autonomous systems, and robots for subsea and space engineering.
Assessment Examinations: 60% * Assignments and projects: 30% * Laboratory work: 10%
Recommended texts
McKerrow P Introduction to robotics Addison-Wesley
Schilling R Fundamentals of robotics: Analysis and control Prentice-Hall
Stadler W Analytical robotics and mechatronics McGraw-Hill
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