MEng Mechatronic Engineering with Industrial Experience

DESCRIPTION OF THE UNIT

(1) Robotic manipulators

(1.1) Introduction      

(1.2) Actuators and sensors

(1.3) Kinematics and path planning

(1.4) Dynamics

(1.5) Multivariable and advanced control

(2) Autonomous Systems

(2.1) Introduction to Autonomous Systems

(2.2) Uncertainty propagation in Autonomous Systems

(2.3) Map-based localization

(2.4) Mapping

(2.5) Introduction to SLAM (Simultaneous Localization and Mapping)

(2.6) Navigation

This course unit aims to provide students with understanding of rigid body motion and robotic manipulators in a theoretical and practical level, enable the students to model robotic manipulators, and enable the students to design linear and nonlinear controllers for robotic manipulators.

On successful completion of the course, a student will be able to:

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

ILO 2: Formulate kinematic and dynamic models for robotic manipulators.

ILO 3: Design and implement appropriate closed-loop controllers for robotic manipulator tasks.

ILO 4: Analyse the control system performance against appropriate metrics.

ILO 5: Present scientific data to professional engineering and/or lay audiences.

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

Department feedback after the Exam Board (written exam)

In-session or 1 week after submission (continuous assessment)

Robot Modeling and Control, 2nd Edition, Mark W. Spong, Seth Hutchinson,M. Vidyasagar, John Wiley & Sons, Inc., 2020

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.