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Module Specifications..

Current Academic Year 2023 - 2024

Please note that this information is subject to change.

Module Title Robotics
Module Code MM559
School School of Mechanical and Manufacturing Engineering
Module Co-ordinatorSemester 1: Harold Esmonde
Semester 2: Harold Esmonde
Autumn: Harold Esmonde
Module TeachersHarold Esmonde
NFQ level 9 Credit Rating 7.5
Pre-requisite None
Co-requisite None
Compatibles None
Incompatibles None
Repeat examination

This module gives students an understanding of the issues involved in the mechanical design, modelling and control of robotic manipulators

Learning Outcomes

1. Define object location mathematically in three dimensions.
2. Describe the robot links and joint types. Assign coordinate frames to robotic manipulators and describe base to end effector transformations for various robot geometries.
3. Apply Inverse kinematic analysis to determine joint space coordinates required to achieve end effector position and orientation.
4. Solve kinematic problems for small movement based on differential analysis. Determine the Jacobian matrix for differential movement of robotic manipulators.
5. Determine trajectories for robotic movement including kinematic constraints.
6. Analyse static force equilibrium of robotic arms using Newton Euler theory
7. Analyse robot dynamics using Lagragian analysis.
8. Apply advanced strategies in robotic control.
9. Use vision based servo control of manipulators

Workload Full-time hours per semester
Type Hours Description
Lecture36No Description
Tutorial12No Description
Independent Study139No Description
Total Workload: 187

All module information is indicative and subject to change. For further information,students are advised to refer to the University's Marks and Standards and Programme Specific Regulations at: http://www.dcu.ie/registry/examinations/index.shtml

Indicative Content and Learning Activities

Object location in 3-D Cartesian space.

Forward and inverse kinematic modelling of multi link manipulators.

Dynamic solution of robot manipulators.

Control and actuation of manipulators

Trajectory planniing

Vision Systems

Assessment Breakdown
Continuous Assessment50% Examination Weight50%
Course Work Breakdown
TypeDescription% of totalAssessment Date
ParticipationAssignment50%Sem 2 End
Reassessment Requirement Type
Resit arrangements are explained by the following categories;
1 = A resit is available for all components of the module
2 = No resit is available for 100% continuous assessment module
3 = No resit is available for the continuous assessment component
This module is category 1
Indicative Reading List

  • P.J. McKerrow: 1991, Introduction to Robotics, Addison Wesley,
  • Saeed Benjamin Niku: 2011, Introduction to robotics, Wiley, Hoboken, NJ, 0470604468
Other Resources

43732, Software, Varadom Toochinda, 2014, Robot Analysis and Control with Scilab and RTSX, https://scilabdotninja.wordpress.com/rtsx/,
Programme or List of Programmes
ECSAOStudy Abroad (Engineering & Computing)
MEIB.Eng in Mechatronic Engineering

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