Aims
Knowledge and Understanding
Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:
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Be able to identify the limitations of a robot (either mobile or static), together with its end effectors and sensors, when applied to a specific environment or task.
Subject Specific Intellectual
Having successfully completed this module, you will be able to:
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Analyse the kinematics of a robot and its associated control system.
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escribe the operation and application of a range of sensors (e.g. vision, tactile) and how they can be applied to a mobile or static robot system
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Appreciated the relevance of the biology-robotic interface and how it can benefit both the understanding of biological systems and the design of individual or groups of robots
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Develop control algorithms for individual robots or robot swarms, to undertake simple tasks such as foraging.
Introduction: Definition of robotic systems, including an overview of manufacturing systems, biologically inspired robotics, medical applications, and space applications.
Manipulators: Classification of types of robot; identification of manipulator components and terminology; joints classification; mobile robot platforms.
Kinematics: Axis transformations as applied to robotics; application and definition of the DH matrix; forward and reverse kinematics; introduction to Jacobian and dynamic performance; path generation; definition of workspace.
Teleoperation: Master-slave systems; supervisory control; latency problems;
Robotic end effectors: Characteristic of the human hand; underactuated systems; stable grip; constraints; types of contact; mathematical representation of stable grip; use of screw twist, and wrench gripper design.
Tactile Sensors: Construction of tactile, and touch sensors; interpretation of sensory information; use of sensory data to determine kinematic information; peg into hole problem; contacts; RCC and IRCC systems.
Vision Systems: computer vision; sobal operator; perception; optical flow; road car and quad-copter navigation.
Biologically Inspired robotics: bio-inspired morphologies, sensors and actuators; what is intelligence; reactive and deliberative control; learning; SLAM; Behaviours; multi-robot and swarm systems.
Learning & teaching methods
All students will be provided with a hard copy of the lectured material. A number of tutoral sessions will be provide, particularly to cover the kinematic and control aspects of the module.
| Activity | Description | Hours |
|---|
| Lecture | | 36 |
Assessment methods
| Method | Hours | Percentage contribution |
|---|
| Kinematic design and analysis of robotic systems | - | 25% |
| Exam | 2 hours | 75% |
Referral Method: By examination, with the original coursework mark being carried forward