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Robot Kinematics and Dynamics - ELE00150M

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  • Department: Electronic Engineering
  • Module co-ordinator: Dr. Hadi El Daou
  • Credit value: 20 credits
  • Credit level: M
  • Academic year of delivery: 2024-25
    • See module specification for other years: 2023-24

Module summary

This module introduces students to the modelling, planning and control of robotic manipulators enabling them to formulate and solve kinematics and dynamics models for robots and other mechanical systems with a particular focus on robotic manipulation in unstructured environments. This allows students to design and build mechanical systems that operate under programmed mechatronic control to perform complex manipulation tasks. The laboratory sessions will focus on designing robotic manipulators using Fusion 360 and applying concepts from lectures to control and simulate these robots in a Simulink/Simscape environment. Experiments will be conducted using physical robots to allow students to apply the material taught to real-life applications.

Module will run

Occurrence Teaching period
A Semester 2 2024-25

Module aims

Subject content aims:

  • to provide technical skills in the design and construction of multiple degree of freedom robots

  • to provide technical skills in the programming of kinematic and dynamic control

  • to provide an understanding of the limitations of physical modelling and solution of robots

Graduate skills aims:

  • To provide a context for the application of taught knowledge in an engineering setting

  • To demonstrate the appreciation of scientific and engineering methods and techniques

Module learning outcomes

Subject content learning outcomes:

After successful completion of this module, students will:

  • Be able to describe modelling of mobile robots and robot manipulators.

  • Be able to control a robot arm, being aware of the kinematic and dynamic aspects.

  • Be able to perform grasping and placing operations with sensor feedback for control.

Graduate skills learning outcomes:

After successful completion of this module, students will:

  • Be able to express basic robotics concepts concisely and accurately and comment on their applications and limitations.

  • Be able to select, adapt, and apply a range of mechatronics technologies for the design, development, and control of advanced robots.

Module content

Introduction to serial link manipulators: Spatial Descriptions, Rotation matrix, Euler angles, Euler-Rodrigues formulation, Quaternions, Homogeneous transformation matrix; Denavit Hartenberg (D-H) parameters, forward Kinematics formulation; Robots with decoupled kinematics, Inverse kinematics problem, Pieper’s Method; Differential Kinematics: Propagation of Velocities, Angular Velocity, Jacobian, Singularities, Forces in Joint Space; Dynamics of Robotic Manipulators: Rigid Body Acceleration, Linear Momentum, Angular Momentum, Inertia Matrix, Newton-Euler Formulation, Lagrange Equations, Kinetic Energy, Potential Energy, Generalised Forces, Euler-Lagrange Formulation; Motion Control of Robot Manipulators in joint and cartesian spaces; Force Control of Robot Manipulators: Impedance and Admittance control; Hybrid force/position control.


Task Length % of module mark
Report, Source code and Demonstration
N/A 80
Oral presentation/seminar/exam
Oral presentation/seminar/exam
N/A 20

Special assessment rules


Additional assessment information

The coursework is divided into four phases that are assessed by reviewing and appropriately commenting: the quality of the proposed design of a series manipulator tailored to applications chosen by the students; the quality of corresponding 3D CAD parts and assemblies; the mathematical modelling and corresponding software; program code and models used in control design and simulation. A fifth phase of work requires students to present their design and models, explain the problems they have solved, and critically reason about the quality of their results to their supervisors and peers, followed by the demonstration of their knowledge in a question and answer session.


Task Length % of module mark
Report, Source code and Demonstration
N/A 80
Oral presentation/seminar/exam
Oral presentation/seminar/exam
N/A 20

Module feedback

'Feedback’ at a university level can be understood as any part of the learning process which is designed to guide your progress through your degree programme. We aim to help you reflect on your own learning and help you feel more clear about your progress through clarifying what is expected of you in both formative and summative assessments. A comprehensive guide to feedback and to forms of feedback is available in the Guide to Assessment Standards, Marking and Feedback.

The School of PET aims to provide some form of feedback on all formative and summative assessments that are carried out during the degree programme. In general, feedback on any written work/assignments undertaken will be sufficient so as to indicate the nature of the changes needed in order to improve the work. The School will endeavour to return all exam feedback within the timescale set out in the University's Policy on Assessment Feedback Turnaround Time. The School would normally expect to adhere to the times given, however, it is possible that exceptional circumstances may delay feedback. The School will endeavour to keep such delays to a minimum. Please note that any marks released are subject to ratification by the Board of Examiners and Senate. Meetings at the start/end of each term provide you with an opportunity to discuss and reflect with your supervisor on your overall performance to date.

Formative Feedback:

Lab work with spoken feedback and problem-solving, and immediate help given by lab demonstrators during lab sessions.

Workshops held every week that allow students to ask questions and get immediate feedback on their progress in lecture study and coursework.

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 standard university guidelines with grades.

Indicative reading

Introduction to Robotics: Mechanics and Control, John Craig, Fourth Edition, Pearson, 2022.Fundamentals (only)

The information on this page is indicative of the module that is currently on offer. The University is constantly exploring ways to enhance and improve its degree programmes and therefore reserves the right to make variations to the content and method of delivery of modules, and to discontinue modules, if such action is reasonably considered to be necessary by the University. Where appropriate, the University will notify and consult with affected students in advance about any changes that are required in line with the University's policy on the Approval of Modifications to Existing Taught Programmes of Study.