Module: Robotics

Module Specifications.

Current Academic Year 2024 - 2025

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Date posted: September 2024

Module Title	Robotics
Module Code	MM559 (ITS) / MEC1070 (Banner)
Faculty	Engineering & Computing	School	Mechanical & Manufacturing Eng
Module Co-ordinator	Harry Esmonde
Module Teachers	-
NFQ level	9	Credit Rating	7.5
Pre-requisite	Not Available
Co-requisite	Not Available
Compatibles	Not Available
Incompatibles	Not Available

Repeat examination

Description

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
10. Consider the ethical implications of using robotic systems.

*Type*	*Hours*	*Description*
Workload	Full-time hours per semester
Lecture	36	No Description
Tutorial	12	No Description
Independent Study	139	No 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 Assessment	50%	Examination Weight	50%

Type	Description	% of total	Assessment Date
Course Work Breakdown
Assignment	The coursework is an assignment submitted in two parts on an individual basis. The assignment covers all technical aspects of the module. The applied nature of the material (including analysis, programming and discussion of numerical results) does not lend itself to platforms such as Chatgpt etc.	50%	Sem 2 End

Reassessment Requirement Type
Resit arrangements are explained by the following categories: Resit category 1: A resit is available for both* components of the module. Resit category 2: No resit is available for a 100% continuous assessment module. Resit category 3: No resit is available for the continuous assessment component where there is a continuous assessment and examination element.
* ‘Both’ is used in the context of the module having a Continuous Assessment/Examination split; where the module is 100% continuous assessment, there will also be a resit of the assessment
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

65278, Software, Varadom Toochinda, 2014, Robot Analysis and Control with Scilab and RTSX, https://scilabdotninja.wordpress.com/rtsx/,