Registry
Module Specifications
Archived Version 2023 - 2024
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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 | |||||||||||||||||||||||||||||||||||||
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 |
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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 manipulatorsTrajectory planniingVision Systems | |||||||||||||||||||||||||||||||||||||
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Indicative Reading List
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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 | |||||||||||||||||||||||||||||||||||||
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