Module: Robotics

Latest Module Specifications

Current Academic Year 2025 - 2026

Module Title	Robotics
Module Code	MEC1070 (ITS: MM559)
Faculty	Mechanical & Manufacturing Eng	School	Engineering & Computing
NFQ level	9	Credit Rating	7.5

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

Section Breakdown
CRN	20399	Part of Term	Semester 2
Coursework	0%	Examination Weight	0%
Grade Scale	40PASS	Pass Both Elements	Y
Resit Category	RC1	Best Mark	N
Module Co-ordinator	Harry Esmonde	Module Teacher

Type	Description	% of total	Assessment Date
Assessment 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
Formal Examination	End-of-Semester Final Examination	50%	End-of-Semester

Reassessment Requirement Type
Resit arrangements are explained by the following categories; RC1: A resit is available for both^* components of the module. RC2: No resit is available for a 100% coursework module. RC3: No resit is available for the coursework component where there is a coursework and summative examination element. ^* ‘Both’ is used in the context of the module having a coursework/summative examination split; where the module is 100% coursework, there will also be a resit of the assessment

Pre-requisite	None
Co-requisite	None
Compatibles	None
Incompatibles	None

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

Indicative Reading List

Books:

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

Articles:
None

Other Resources

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