School of Computer Science

Module 06-25021 (2014)

Advanced Robotics

Level 4/M

Michael Mistry Semester 2 20 credits
Co-ordinator: Michael Mistry
Reviewer: Jeremy Wyatt

The Module Description is a strict subset of this Syllabus Page.

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:

  1. Develop and formulate models of a dynamic robot, such as a manipulator
  2. Implement algorithms for solving robot manipulation problems
  3. Investigate and analyse control methods for robot motion (on a simulator or real robot)
  4. Demonstrate an understanding of the main methods of modelling and controlling dynamic robots

Restrictions

None


Teaching methods

2 hrs lectures per week, laboratory sessions

Contact Hours:

44


Assessment

Sessional: 2 hour examination (40%), continuous assessment (team project) (60%).

Supplementary (where allowed): By repeat only.


Detailed Syllabus

  1. Introduction

* overview * introduction to manipulation * types of sensors/actuators 2. Kinematics * coordinate transformation * rotations * quaternions * homogenous transforms * Denavit-Hartenberg notation 3. Inverse Kinematics * redundancy * Jacobians * singularities * manipulability 4. Trajectory Planning * joint space vs task space * cubic/quintic splines 5. Dynamics * Lagrange formulation * Newton Euler formulation * Simulation * Inertial parameter identification * Operational space dynamics * Constraint dynamics 6. Control * joint space control * computed torque control * gravity compensation * inverse dynamics control * operational space control * force control * constraint control * impedance control


Programmes containing this module