ROBO H6001: Robotics and Vision

Transcription

1 Short Title: Full Title: Robotics and APPROVED Robotics and Module Code: ROBO H6001 Credits: 5 Field of Study: Mechanics and metal work Module Delivered in 1 programme(s) Reviewed By: GERARD RYDER Module Author: LUCY MCAULEY Module Description: This module involves the design, kinematic and dynamic analysis, programming, and control of threedimensional robots, manipulators and robotic mechanisms. Students will apply a variety of vision techniques for the design of efficient algorithms in order to address complex problems of vision-based perception, recognition and robot navigation. Students will work individually and in groups to analyze vision-based robotics problems and to design software solutions. Students will apply and analyse a variety of control methods applied to robotic mechanisms using simulation tools and practical tests. Learning Outcomes On successful completion of this module the learner will be able to: LO1 LO2 LO3 LO4 LO5 Model the motion of robotic systems in terms of kinematics and dynamics. Implement and evaluate image capture, processing and analysis techniques. Devise, implement and evaluate vision-based robot control algorithms. Research, describe, simulate and evaluate typical control strategies used in actuator control. Investigate and select then simulate a robot controller incorporating effects such as Feedforward, Computed Torque, Variable Inertia and Flexible Transmission and document their effects.

2 Module Content & Assessment Course Work Assessment Type Assessment Description Outcome addressed % of total Assessment Date Assignment Project Control Simulations Applied to Robotics: This will involve the students developing and adapting researched models in the literature in order to build simulations and analyze them. Using firstly common control stategies applied to general actuators then moving on to methods more suitable for robot manipulator control with combinations of Feedforward, Computed Torque, Variable Inertia and Flexible Transmission. -Based Robot Control: This will involve the manipulation of an industrial or mobile robot through the use of kinematic modelling, camera calibration, image processing and robot programming techniques using matlab toolboxes. Each group will work on a different project; examples would be sorting of randomly placed parts or reproduction of an image by the robot. Assessed by report and presentation/demonstration. 1,4, ,2, No End of Module Formal Examination IT Tallaght reserves the right to alter the nature and timings of assessment

3 Module Workload Workload: Full Time Workload Type Workload Description Hours Frequency Average ly Learner Workload Lecture Class based instruction 1.00 Every Lab Project work 2.00 Every Independent Learning Independent Learning 5.00 Every Total ly Learner Workload 8.00 Total ly Contact Hours 3.00 Workload: Part Time Workload Type Workload Description Hours Frequency Average ly Learner Workload Lecture Class based instruction 1.00 Every Lab Project work 2.00 Every Independent Learning Independent Learning 5.00 Every Total ly Learner Workload 8.00 Total ly Contact Hours 3.00

4 Module Resources Required Book Resources W. Khalil, E. Dombre, Modeling, Identification and Control of Robots [ISBN: , ] Recommended Book Resources Norman S. Nise,, Control Systems Engineering [ISBN: ] Peter Corke,, Robotics, and Control: Fundamental Algorithms in MATLAB [ISBN: ] Dorf, Bishop, Modern Control Systems [ISBN: ] This module does not have any article/paper resources This module does not have any other resources

5 Module Delivered in Programme Code Programme Semester Delivery TA_EAMEC_M_X Master of Engineering in Mechanical Engineering 10 Mandatory