To introduce students to the issues involved in the mechanical design and modelling of robotic manipulators.
Learning Outcomes
On successful completion of this module the learner will be able to:
#
Learning Outcome Description
LO1
Distinguish the variety of common mechanical components and joint types used in robotic systems
LO2
Analyze the principles of object location
LO3
Calculate end effector position for typical robot arm configurations
LO4
Calculate manipulator kinematics, position, velocity and acceleration
LO5
Relate theory to practical end effector location and positioning
Dependencies
Module Recommendations
This is prior learning (or a practical skill) that is recommended before enrolment in this module.
No recommendations listed
Co-requisite Modules
No Co-requisite modules listed
Additional Requisite Information
No Co Requisites listed
Indicative Content
Common components
Wrists, End Effectors, Joint types; Prismatic waist, revolut shoulder etc. Link types, robot classifications (play back, vision controlled etc.)
Object location in 3-D Cartesian space
Cartesian coordinates, two and three dimensional transformations using matrices, Relative and general transformations, Inverse transformation
Forward and inverse kinematic modelling of multi-link manipulators
Assignment of coordinate frames, Homogenous transformations, Direct kinematic solutions, General orientation transform, Inverse kinematics, redundancies and degeneracies
Dynamic solution of robot manipulators
Velocity and acceleration of rigid bodies, Differential Motion, The manipulator Jacobian, Singularities
Module Content & Assessment
Assessment Breakdown
%
Continuous Assessment
20.00%
Practical
10.00%
End of Module Formal Examination
70.00%
Assessments
Full Time
Continuous Assessment
Assessment Type
Examination
% of Total Mark
20
Timing
n/a
Learning Outcomes
1,2,3,4,5
Non-marked
No
Assessment Description Various assessments to reinforce learnings given throughout the semester.
No Project
Practical
Assessment Type
Practical/Skills Evaluation
% of Total Mark
10
Timing
n/a
Learning Outcomes
5
Non-marked
No
Assessment Description A set of regular practical exercises to complement the theory elements of the module.
End of Module Formal Examination
Assessment Type
Formal Exam
% of Total Mark
70
Timing
End-of-Semester
Learning Outcomes
1,2,3,4
Non-marked
No
Assessment Description Formal end of semester examination
Reassessment Requirement
Repeat examination Reassessment of this module will consist of a repeat examination. It is possible that there will also be a requirement to be reassessed in a coursework element.
SETU Carlow Campus reserves the right to alter the nature and timings of assessment
Module Workload
Workload: Full Time
Workload Type
Workload Category
Contact Type
Workload Description
Frequency
Average Weekly Learner Workload
Hours
Lecture
Contact
No Description
Every Week
4.00
4
Laboratory
Contact
No Description
Every Week
1.00
1
Independent Learning Time
Non Contact
No Description
Every Week
4.00
4
Total Weekly Contact Hours
5.00
Module Resources
Recommended Book Resources
Phillip John McKerrow. (1991), Introduction to robotics, [ISBN: 978-020118240].
This module does not have any article/paper resources