MSc Advanced Control and Systems Engineering / Course details

This unit introduces students to the field of robotic manipulation, which is widely used in several application areas, from manufacturing to surgery, agriculture to social care. Manipulators allow robots to interact with their environment and are critical to their full potential to assist humans with tasks. Students will learn how to create kinematic and dynamic models for manipulators before developing a range of controllers to enable them to complete tasks.

The course unit aims to: 
(1)   Provide students with understanding of modern autonomous systems and robotic manipulators. 
(2)   Enable the students to model robots. 
(3)   Enable the students to design linear and nonlinear controllers for robotic manipulators. 
(4)   Provide students with an overview on main topics encountered in autonomous systems field such as localization techniques, mapping, SLAM, path-planning.

ILO 1 Describe the key components of a robotic manipulator and evaluate the effectiveness of end-effectors for a given task. (Developed and Assessed)

ILO2 Formulate kinematic and dynamic models for robotic manipulators. (Developed and Assessed)

ILO3 Design and implement appropriate closed-loop controllers for robotic manipulator tasks. (Developed and Assessed)

ILO4 Analyse the control system performance against appropriate metrics.(Developed and Assessed)

ILO5 Present scientific data to professional engineering and/or lay-audiences (Assessed)

(1) Demonstrate understanding of robotic manipulators, their modelling and control.

(2) Demonstrate understanding of main topics encountered in Autonomous Systems field.

The unit will make use of blended learning teaching styles. Students will engage with asynchronous materials such as videos, notes and formative quizzes prior to the synchronous sessions to learn the fundamental material on topics.

During the synchronous sessions, the first half will focus on reinforcing the mateiral through activities such as interactive tutorial questions and Q&As. The second half will be marked simulation exercises which will count towards continuous assessment.

(1) Demonstrate understanding of robotic manipulators, their modelling and control.

(2) Demonstrate understanding of main topics encountered in Autonomous Systems field.

• 50% continuous assessments (10 in total, 5% each)
• 50% written exam

Exam (50%) - departmental feedback form after the exam board.

Continuous assessment through weekly simulation activities (5% weekly, 50% total) - in session or 1 week after submission.

Spong, M.W., Hutchison, S., & Vidyasagar, M. (2020). Robot modelling and control. John Wiley & Sons. 

Siciliano, B., Sciavicco, L., Vilani, L., & Oriolo, G. (2009). Robotics: Modelling, Planning and Control. In Advanced Textbooks in Control and Signal Processing. Springer-Verlag London. https://doi.org/10.1007/978-1-84628-642-1.