DGS3630

Fundamentals of robotics

G Lowe

4 points
* First semester
* Clayton
* Prerequisites: MAT1020 or MAT1812, CSC1030/CSC1062

Objectives At the completion of the subject students should be able to understand the mechanical and electrical fundamentals of industrial robots; and program robots for simple laboratory tasks.

Synopsis This subject addresses the range of applications for industrial robots, the underlying mechanical structure of robots, and the programming methods used for industrial robots. The syllabus covers: an introduction to industrial robotics, robot applications, robot drive systems, joint position and velocity sensing, industrial-robot programming methods, end-effectors (design and application), external sensors (visual, tactile), manipulator kinematics, dynamics of robot arms, joint-space feedback control, inverse kinematics, path planning in Cartesian space, and force sensing and control.

Assessment Examination (2 hours): 60%
* Written assignments: 16%
* Laboratory practical work: 24%

Prescribed texts

McKerrow P J Introduction to robotics Addison-Wesley, 1991

Recommended texts

Schilling R J Fundamentals of robotics Prentice-Hall, 1990