Robotics Mechanics and Control

Synopsis

This course introduces fundamental concepts in robotics and a unified set of analytical tools for the modeling and control of robotic systems. The course focuses on arm-type robotics with mobile robotics briefly introduced. Topics covered include rigid-body transformations, robot kinematics, differential motions, robot dynamics, trajectory planning, linear/non-linear control and force control methodologies, sensors and actuators as well as mechanical design aspects of robots. Computer simulations of robot applications using the Robot Operating System (ROS) platform is also introduced. The Python programming language is used in laboratory sessions and course projects to simulate the kinematics and control of robotic systems.

Level: 4
Credit Units: 5
Presentation Pattern: Every July

Topics

Introduction to robotic systems and applications
Spatial descriptions and transformations
Forward kinematics and inverse kinematics
Velocities, static forces, and Jacobians
Manipulator dynamics
Trajectory planning
Sensors and actuators
Mechanical design of robots
Linear control of manipulators
Nonlinear control of manipulators
Force control of manipulators
Simulation of robot applications in ROS using Python programming

Learning Outcome

Appraise applications of robots and robotic systems
Formulate position and velocity kinematics of robot manipulators
Calculate path planning using algebraic techniques
Examine working principles of robot sensors and actuators
Analyse robot controllers using appropriate methods
Design numerical models to simulate kinematics and control of robotic systems
Experiment with the Python programming for development of numerical models
Design robotic systems in a simulation environment

Part-time Programmes / CET Courses

Singapore University of Social Sciences

Robotics Mechanics and Control