Registry

Module Specifications

Archived Version 2010 - 2011

Module Title
Module Code
School
Online Module Resources
NFQ level	8	Credit Rating	5
Pre-requisite	None
Co-requisite	None
Compatibles	None
Incompatibles	None

Description

To introduce students to the issues involved in the mechanical design and modelling and control of robotic manipulators

Learning Outcomes

1. Describe the various components of robotic manipulators
2. Define object location mathematically in three dimensions.
3. Model end-effector position, velocity and acceleration for standard robotic arms.
4. Calculate the forces and torques in manipulator joints
5. Describe typical control strategies used in manipulator control.

*Type*	*Hours*	*Description*
Workload	Full-time hours per semester
Lecture	24	No Description
Tutorial	12	No Description
Independent Study	89	No Description
Total Workload: 125

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

Assessment Breakdown
Continuous Assessment	%	Examination Weight	%

Type	Description	% of total	Assessment Date
Course Work Breakdown

Reassessment Requirement
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
Unavailable

Indicative Reading List

P.J. McKerrow: 1991, Introduction to Robotics, Addison Wesley,
Koivo: 1989, Fundamentals for control of Robotic manipulators, John Wiley,

Other Resources

None

Programme or List of Programmes

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