Last modified: 31 May 2022 13:05
Robotics is an essential component of Industry 4.0. The adoption of robots in industries worldwide is on the rise and robotic arms are the most successful robotic platform.
The course introduces students to the analysis and use of robot arms, by exposing them to the theoretical basis of robotics as well as their practical implementation. This course focuses on the kinematics, dynamics and control of robotic arms.
Study Type  Postgraduate  Level  5 

Session  Second Sub Session  Credit Points  15 credits (7.5 ECTS credits) 
Campus  Aberdeen  Sustained Study  No 
Coordinators 

This course focuses on the fundamentals of robotic arms, including kinematics, dynamics, and control. The aim is to provide a complete introduction to the most important concepts in these subjects as applied to industrial robot arms, also called manipulators. Robots have several features that make them attractive in an industrial environment. The advantages that make robots successful in the industrial environments are increased precision and productivity, decreased labor costs, reprogrammability and flexibility in operation, and enhanced safety for human workers as hazardous jobs are performed by robots. There is an abundance of robotics applications that are impractical or undesirable for humans and could be performed using robot manipulators. Examples are search and rescue after earthquakes and during fires, defusing of explosive devices, caring for patients with contagious diseases, working in radioactive environments, space exploration and satellite repair. The methods of analysis and design of industrial manipulators are also required for prostheses, such as artificial limbs, which are themselves robotic devices.
By the end of the course students are expected to understand the ways in which robots are used in industrial and other relevant applications; the key parameters for selecting robots for specific applications; and the essentials of robot kinematics, dynamics and control.
Main topics
Course content
Force control: Coordinate frames and constraints, network models and impedance, task space dynamics and control, safety in humanrobot interaction
Information on contact teaching time is available from the course guide.
Assessment Type  Summative  Weighting  30  

Assessment Weeks  34  Feedback Weeks  35,36,37  
Feedback 
Feedback will be together with marked assignment. The project assessment will include an element of peer review. 
Knowledge Level  Thinking Skill  Outcome 

Conceptual  Understand  Understand the structure of robot arms and the spatial transformations needed to describe them 
Procedural  Apply  Derive the geometric Jacobian, the analytical Jacobian and singularities of a robot arm 
Procedural  Apply  Derive forward and inverse kinematics equations of most common robot arm systems 
Assessment Type  Summative  Weighting  70  

Assessment Weeks  40,41  Feedback Weeks  42,43,44  
Feedback 
By appointment with course coordinator. 
Knowledge Level  Thinking Skill  Outcome 

Conceptual  Understand  Understand the structure of robot arms and the spatial transformations needed to describe them 
Procedural  Apply  Derive the geometric Jacobian, the analytical Jacobian and singularities of a robot arm 
Procedural  Apply  Derive forward and inverse kinematics equations of most common robot arm systems 
Procedural  Evaluate  Evaluate the dynamics of a robot manipulator using the equations of motion and NewtonEuler formulation 
Procedural  Evaluate  Evaluate joint torques and impedance control methodologies for robot arms and their applications for safety in physical humanrobot interactions. 
There are no assessments for this course.
Assessment Type  Summative  Weighting  

Assessment Weeks  48,49  Feedback Weeks  50,51,52  
Feedback 
Exam  by appointment with course coordinator Project  feedback will be given together with marked assignment 
Knowledge Level  Thinking Skill  Outcome 

Conceptual  Understand  Understand the structure of robot arms and the spatial transformations needed to describe them 
Procedural  Apply  Derive the geometric Jacobian, the analytical Jacobian and singularities of a robot arm 
Procedural  Apply  Derive forward and inverse kinematics equations of most common robot arm systems 
Procedural  Evaluate  Evaluate joint torques and impedance control methodologies for robot arms and their applications for safety in physical humanrobot interactions. 
Procedural  Evaluate  Evaluate the dynamics of a robot manipulator using the equations of motion and NewtonEuler formulation 
Knowledge Level  Thinking Skill  Outcome 

Conceptual  Understand  Understand the structure of robot arms and the spatial transformations needed to describe them 
Procedural  Apply  Derive forward and inverse kinematics equations of most common robot arm systems 
Procedural  Apply  Derive the geometric Jacobian, the analytical Jacobian and singularities of a robot arm 
Procedural  Evaluate  Evaluate the dynamics of a robot manipulator using the equations of motion and NewtonEuler formulation 
Procedural  Evaluate  Evaluate joint torques and impedance control methodologies for robot arms and their applications for safety in physical humanrobot interactions. 
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