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Mechanical Design and Kinematics - ELE00096H
- Department: Electronic Engineering
- Module co-ordinator: Dr. Jihong Zhu
- Credit value: 20 credits
- Credit level: H
- Academic year of delivery: 2023-24
Module summary
The module introduces students to the fundamentals of Unified Robotics Description Format (URDF) for creating robot design in simulators and the kinematics and dynamics of mechanical systems and manipulators with a particular focus on robotic manipulators and interaction with objects. It enables students to design and construct robotics systems that function under programmed mechatronic control.
Professional requirements
Related modules
Pre-requisite modules
Co-requisite modules
- None
Prohibited combinations
- None
Additional information
Module will run
| Occurrence | Teaching cycle |
|---|---|
| A | Semester 2 2023-24 |
Module aims
Subject content aims:
-
To provide instruction and experience in using robot simulation software (Pybullet, Coppeliasim, Gazebo) for the creation of robotic systems
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To explain the formalisation of rigid body motion to forward and inverse kinematics using position and velocity.
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To describe the main types of mechanical joints, jointed robots, and manipulators used in industrial systems and other applications.
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To explain the use of kinematic control for jointed mechatronic systems
Graduate skills aims:
-
To explain the mechanical design and control of multiple degree of freedom systems
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To provide an opportunity for gaining experience in designing and controlling robotic manipulators in simulation
Module learning outcomes
Subject content learning outcomes
After successful completion of this module, students will:
-
Be able to describe how to design robotic systems using URDF and robot simulation software
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Be proficient at describing rigid body motion in three-dimensional space
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Able to model joints of different types and end effector position for typical robot arm configurations
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Be capable of calculating forward and inverse manipulator kinematics with position, velocity and acceleration
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Implement point-to-point and trajectory arm control by considering joint and end effector forces
Graduate skills learning outcomes
After successful completion of this module, students will be able to:
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Design, construct, and control robotic arms and other mechatronic manipulators
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Build mathematical models of jointed multiple degree of freedom systems
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Create control algorithms for performing simple tasks with jointed robot arms
Module content
Assessment
| Task | Length | % of module mark |
|---|---|---|
| Essay/coursework Coursework |
N/A | 70 |
| Oral presentation/seminar/exam Presentation |
N/A | 30 |
Special assessment rules
None
Additional assessment information
The coursework builds on content from the practicals, so by completing the labs, students will gain the skills and experience necessary to do the coursework The students are asked to form a team (max 3) to do the coursework and summarise the result in the form of a report (max 12 pages). They are also asked to deliver a clear and concise presentation to demonstrate it to the audiences.
Reassessment
| Task | Length | % of module mark |
|---|---|---|
| Essay/coursework Coursework Reassessment |
N/A | 100 |
Module feedback
Formative Feedback:
Lab work with spoken feedback and problem-solving, and immediate help given by lab demonstrators during lab sessions.
Summative Feedback:
Feedback forms with a detailed breakdown of grades provided at the assessment of coursework which occurs at the end of term, returned to the students within three weeks with grades.
Indicative reading
Modern Robotics (Mechanics,Planning and Control), 2017, K.M. Lynch and F. C. Park.
Introduction to Robotics, P.J. McKerrow Addison Wesley 1991.
Fundamentals for control of robotic manipulators, Koivo, John Wiley, 1989.
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