5ELEN018W - Robotic Principles

Autumn 2023

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  27/10  17/11  24/11  1/12  8/12  15/12 

Tutorials:  1  2-3  4  5  6  7  8 

Selected Tutorial Solutions:  1  2-3  4 

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 14 15 16 17 18 19
        20 21 22 23 24 25 26
        27 28 29 30         
Dec                  1  2  3    in-class test; assignment published
         4  5  6  7  8  9 10
        11 12 13 14 15 16 17    last lecture
        18 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    assignment deadline
        15 16 17 18 19 20 21
        22 23 24 25 26 27 28
        29 30 31

Syllabus

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

Contact

Lectures: Friday 9:00-11:00, Copland, 1.100A.

Dr Dimitris C. Dracopoulos, , 7.116 Copland Building.

Office hours: Email me to arrange. Friday 16:00-18:00.

Reading Material

Reading Guide.

Assessment Process

Last modified: Wed Dec 13 19:01:26 UTC 2023