Credits 3

Pre-requisites - ME 306, PR 513

Core/Elective - Technical Elective Course

To enhance students’ knowledge on the structure, assembly, kinematics, dynamics and control of robots and autonomous systems so that they will be able to learn and practice implementing algorithms/controllers and programming robots.

At the end of this course, students should be able to:

1. Demonstrate knowledge on the structure, mechanism, design and analysis of robotic systems and their programming and control strategies.

2. Solve problems on robot dynamics, kinematic and dynamic simulations and controller design and implementations.

3. Design and analysis of mechanisms used in robotic applications.

4. Analyse behaviour of robotic systems and design of controllers in achieving position/velocity control.

5. Implement interfacing techniques of sensors and actuators, used in robotics and autonomous systems.

6. Be confident in the design, assembly and control of robotic devices and also in robot programming.

1. Introduction to Robotics and Autonomous Systems: Basic concepts in robotics, classification and structure, sensors and actuators in robotic systems, autonomous systems.

2. Manipulator Kinematics: Link description, Mechanisms and design, Joint space and Cartesian space, Kinematic Analysis and Coordinate Transformations, Jacobian: Velocities and forces

3. Manipulator Dynamics: Acceleration of a rigid body, Mass distribution, Newton’s equation, Euler’s equation, Structure of Manipulator dynamic equation

4. Trajectory Planning: Joint space and Cartesian space, Cubic polynomials, Path generation, via points and parabolic blends

5. Autonomous Mobile Robots: Locomotion and kinematics, open loop and closed loop control, trajectory following, perception and localization

6. Manipulator Control: Feedback and Closed-loop control, Control law partitioning, Trajectory following control, Modelling and control of a single joint, Industrial robot controllers