5ELEN018W - Robotic Principles

Autumn 2022

Dr Dimitris C. Dracopoulos

Lecture slides/notes   Tutorials   Assignments   Schedule   Syllabus   Contact   Reading   Assessment  
The module is an introduction to robotics and its principles with emphasis on robot manipulators. The basics of simple control theory techiques are introduced and applied to simple plants.

Matlab, Simulink and Python are used to demonstrate, understand these principles and get practical hands on the material covered.

Lecture Slides:   29/9  6/10  13/10  20/10  27/10  17/11  24/11  8/12  15/12 

Tutorials:  1  2  3  4  5  6  7  8  9 

Selected Tutorial Solutions:  1  3  5  7 

Assignments:  1  

Schedule

        Mo Tu We Th Fr Sa Su
Sep               1  2  3  4
         5  6  7  8  9 10 11
        12 13 14 15 16 17 18
        19 20 21 22 23 24 25
        26 27 28 29 30          first class   
Oct                     1  2
         3  4  5  6  7  8  9
        10 11 12 13 14 15 16
        17 18 19 20 21 22 23
        24 25 26 27 28 29 30
        31                      engagement week
Nov         1  2  3  4  5  6    
         7  8  9 10 11 12 13    assignment published
        14 15 16 17 18 19 20
        21 22 23 24 25 26 27
        28 29 30
Dec               1  2  3  4    in-class test
         5  6  7  8  9 10 11
        12 13 14 15 16 17 18    last lecture    
        19 20 21 22 23 24 25
        26 27 28 29 30 31
Jan                        1
	 2  3  4  5  6  7  8
	 9 10 11 12 13 14 15    assignment deadline

Syllabus

  1. Introduction to Matlab
  2. Introduction to Robotics
  3. Configuration Space
  4. Spatial Descriptions and Transformations
  5. Manipulator Kinematics
  6. Control
  7. Control Part - II
  8. Inverse Kinematics
  9. Velocity Kinematics - Jacobian
  10. Trajectory Generation
  11. Motion Planning

Contact

Lectures: Thursday 14:00-16:00, Cavendish, C1.52.

Dr Dimitris C. Dracopoulos, , 7.116 Copland Building.

Office hours: Email me to arrange. Monday 18:00-19:00, Thursday 18:00-19:00.

Reading Material

Reading Guide.

Assessment Process

Last modified: Wed Dec 14 22:37:22 UTC 2022