Module 25021 (2012)
Syllabus page 2012/2013
06-25021
Advanced Robotics
Level 4/M
Links | Outline | Aims | Outcomes | Prerequisites | Teaching | Assessment | Books | Detailed Syllabus
The Module Description is a strict subset of this Syllabus Page. (The University module description has not yet been checked against the School's.)
Relevant Links
None.
Outline
This module is concerned with robot motion in a physical world. We will introduce the concepts and tools for modeling, simulating, and controlling dynamic robots. In a series of lectures we will study the fundamentals of manipulation including kinematics, dynamics, and control. Lab exercises will reinforce learned concepts by means of evaluation on a (real/simulated) physical robot.
Aims
The aims of this module are to:
- give an appreciation of the issues that arise when controlling dynamic robots, such as manipulators
- provide an understanding of the methods and techniques used to model and control dynamic robots
- give hands on experience for designing, implementing and testing motion controllers
- encourage independent thought on scientific issues related to robot motion and control
Learning Outcomes
| On successful completion of this module, the student should be able to: | Assessed by: | |
| 1 | develop and formulate models of a dynamic robot, such as a manipulator | Continuous assessment (team project) |
| 2 | Implement algorithms for solving robot manipulation problems | Continuous assessment (team project) |
| 3 | investigate and analyse control methods for robot motion (on a simulator or real robot) | Continuous assessment (team project) |
| 4 | demonstrate an understanding of the main methods of modelling and controlling dynamic robots | Examination |
Restrictions, Prerequisites and Corequisites
Restrictions:
None
Prerequisites:
None
Co-requisites:
None
Teaching
Teaching Methods:
2 hrs lectures per week, laboratory sessions
Contact Hours:
Assessment
- Sessional: 2 hour examination (40%), Continuous assessment (team project) (60%).
- Supplementary (where allowed): By repeat only.
Recommended Books
| Title | Author(s) | Publisher, Date |
| Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing) | Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo | Springer, 2009 |
Detailed Syllabus
-
Introduction
- overview
- introduction to manipulation
- types of sensors/actuators
- Kinematics
- coordinate transformation
- rotations
- quaternions
- homogenous transforms
- Denavit-Hartenberg notation
- Inverse Kinematics
- redundancy
- Jacobians
- singularities
- manipulability
- Trajectory Planning
- joint space vs task space
- cubic/quintic splines
- Dynamics
- Lagrange formulation
- Newton Euler formulation
- Simulation
- Inertial parameter identification
- Operational space dynamics
- Constraint dynamics
- Control
- joint space control
- computed torque control
- gravity compensation
- inverse dynamics control
- operational space control
- force control
- constraint control
- impedance control
Last updated: 10 May 2012
Source file: /internal/modules/COMSCI/2012/xml/25021.xml
Links | Outline | Aims | Outcomes | Prerequisites | Teaching | Assessment | Books | Detailed Syllabus