Module: Robotics

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-ordinator	Semester 1: Harold Esmonde Semester 2: Harold Esmonde Autumn: Harold Esmonde
Module Teachers	Harold Esmonde
NFQ level	9	Credit Rating	7.5
Pre-requisite	None
Co-requisite	None
Compatibles	None
Incompatibles	None

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

*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
Participation	Assignment	50%	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

ECSAO	Study Abroad (Engineering & Computing)
MEI	B.Eng in Mechatronic Engineering

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