DGS3640

Robotics

G Lowe

4 points
* Second semester
* Clayton
* Prerequisites: DGS3630 and CSC2070

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