Studying at York
Robot Kinematics and Dynamics - ELE00150M
- Department: Electronic Engineering
- 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:
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to provide technical skills in the design and construction of multiple degree of freedom robots
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to provide technical skills in the programming of kinematic and dynamic control
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to provide an understanding of the limitations of physical modelling and solution of robots
Graduate skills aims:
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To provide a context for the application of taught knowledge in an engineering setting
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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::
- Implement transferable group working skills such as communication and collaboration. Examined by group documentation and individual report.
- Achieve a professional standard of design, reasoning and implementation skills in a specialist area of robotic systems. Examined by individual report and a demonstration.
- Implement scientific and engineering skills that allow for the analysis of results from a developed system. Examined in the individual project report.
- Contribute in an original way to an established area of research or development, demonstrating a practical understanding of how established techniques of research and enquiry are used to create and interpret knowledge. Examined in the individual project report.
- Formulate a moderate sized problem, select and justify an appropriate approach in the context of wider research literature, and follow the approach systematically. Examined in the group documentation and individual report.
- Evaluate alternatives, selecting and justifying the approach taken at each point in the report, identifying parts of the project area that are feasible within the time (etc.) constraints of the project. Examined in the group documentation and individual report.
- Evaluate the latent issues of the subject area (for example, they might have to alter experimental work to take into account new findings). Examined in the group documentation and individual report.
- Prepare a report the structure and presentation of which is uncontentious, and that demonstrates the ability to critically reflect on their own performance and details the development and deployment of a robotic system.
- Accurately summarise work plans and demonstrate a solution in an oral presentation format.
Graduate skills learning outcomes:
After successful completion of this module, students will:
- Be able to express advanced technical concepts concisely and accurately and comment on their applications, limitations and implications
- Be able to select, adapt and apply a range of theoretical and practical techniques to solve advanced robotics problems
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.
Indicative assessment
| Task | % of module mark |
|---|---|
| Essay/coursework | 80 |
| Oral presentation/seminar/exam | 20 |
Special assessment rules
None
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.
Indicative reassessment
| Task | % of module mark |
|---|---|
| Essay/coursework | 80 |
| Oral presentation/seminar/exam | 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)