EEEN42012
Robotic Manipulators
15
Semester 2
Undergraduate
Level 4
Murilo Marinho
Unit coordinator
Xiaoxiao Cheng
Unit coordinator
Joaquin Carrasco Gomez
Unit coordinator
1
FHEQ level (Framework for Higher Education Qualifications) ' Masters/Integrated Masters P4 '
European Credit Transfer & Accumulation System Rating : 7.5
<p><strong>DESCRIPTION OF THE UNIT</strong></p><p><strong>(1) Robotic manipulators</strong></p><p>(1.1) Introduction </p><p>(1.2) Actuators and sensors</p><p>(1.3) Kinematics and path planning</p><p>(1.4) Dynamics</p><p>(1.5) Multivariable and advanced control</p><p><strong>(2) Autonomous Systems</strong></p><p>(2.1) Introduction to Autonomous Systems</p><p>(2.2) Uncertainty propagation in Autonomous Systems</p><p>(2.3) Map-based localization</p><p>(2.4) Mapping</p><p>(2.5) Introduction to SLAM (Simultaneous Localization and Mapping)</p><p>(2.6) Navigation</p>
<p><strong>DESCRIPTION OF THE UNIT</strong></p><p><strong>(1) Robotic manipulators</strong></p><p>(1.1) Introduction </p><p>(1.2) Actuators and sensors</p><p>(1.3) Kinematics and path planning</p><p>(1.4) Dynamics</p><p>(1.5) Multivariable and advanced control</p><p><strong>(2) Autonomous Systems</strong></p><p>(2.1) Introduction to Autonomous Systems</p><p>(2.2) Uncertainty propagation in Autonomous Systems</p><p>(2.3) Map-based localization</p><p>(2.4) Mapping</p><p>(2.5) Introduction to SLAM (Simultaneous Localization and Mapping)</p><p>(2.6) Navigation</p>
<p>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.</p>
<p><strong>On successful completion of the course, a student will be able to:</strong></p><p><strong>ILO 1:</strong> Describe the key components of a robotic manipulator and evaluate the effectiveness of end-effectors for a given task.</p><p><strong>ILO 2: </strong>Formulate kinematic and dynamic models for robotic manipulators.</p><p><strong>ILO 3:</strong> Design and implement appropriate closed-loop controllers for robotic manipulator tasks.</p><p><strong>ILO 4:</strong> Analyse the control system performance against appropriate metrics.</p><p><strong>ILO 5: </strong>Present scientific data to professional engineering and/or lay audiences.</p>
0
Other
50%
1
Written exam
50%
<p>• 50% continuous assessments (10 in total, 5% each)<br/>• 50% written exam</p>
<p>Department feedback after the Exam Board (written exam)</p><p>In-session or 1 week after submission (continuous assessment)</p>
EEEN20252
Control Systems I
Pre-Requisite
Compulsory
EEEN30231
Control Systems II
Pre-Requisite
Compulsory
N
<p>Robot Modeling and Control, 2nd Edition, Mark W. Spong, Seth Hutchinson,M. Vidyasagar, John Wiley & Sons, Inc., 2020</p><p>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. </p>
Lectures
32
Practical classes & workshops
15
Tutorials
12
0
91