Last modified: 23 Jul 2024 10:43
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 |
---|---|---|---|
Term | Second Term | Credit Points | 15 credits (7.5 ECTS credits) |
Campus | Aberdeen | Sustained Study | No |
Co-ordinators |
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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, re-programmability 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 human-robot interaction
Information on contact teaching time is available from the course guide.
Assessment Type | Summative | Weighting | 70 | |
---|---|---|---|---|
Assessment Weeks | 40,41 | Feedback Weeks | 42,43,44 | |
Feedback |
Online open book exam |
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 Newton-Euler formulation |
Procedural | Evaluate | Evaluate joint torques and impedance control methodologies for robot arms and their applications for safety in physical human-robot interactions. |
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 |
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 the dynamics of a robot manipulator using the equations of motion and Newton-Euler formulation |
Procedural | Evaluate | Evaluate joint torques and impedance control methodologies for robot arms and their applications for safety in physical human-robot interactions. |
Knowledge Level | Thinking Skill | Outcome |
---|---|---|
Procedural | Apply | Derive forward and inverse kinematics equations of most common robot arm systems |
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 | Evaluate | Evaluate the dynamics of a robot manipulator using the equations of motion and Newton-Euler formulation |
Procedural | Evaluate | Evaluate joint torques and impedance control methodologies for robot arms and their applications for safety in physical human-robot interactions. |
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