| CODE | SCE3115 | ||||||||||||||||||||
| TITLE | Autonomous Robotic Systems | ||||||||||||||||||||
| UM LEVEL | 03 - Years 2, 3, 4 in Modular Undergraduate Course | ||||||||||||||||||||
| ECTS CREDITS | 5 | ||||||||||||||||||||
| DEPARTMENT | Systems and Control Engineering | ||||||||||||||||||||
| DESCRIPTION | This study-unit introduces the field of robotics to the engineering student. It provides an overview of the most fundamental topics in robotics, and allows students to apply their theoretical and practical engineering skills to study, design and implement real robotic systems. The study-unit is structured in two main parts. The first part deals with robotic manipulators. It introduces the main manipulator configurations, forward, inverse and velocity kinematics, dynamics, trajectory planning, and motion control. The second part, focuses on mobile robots, and covers topics in locomotion, kinematic and dynamic robot modelling, sensing and actuation, navigation, and control. Study-unit Aims: The aims of the study-unit are to: Part A: Robotic Manipulators1) Introduce the main robotic manipulator configurations; 2) Explain forward, inverse, and velocity kinematics, and the general dynamic model of a robotic arm; 3) Present basic trajectory planning and various motion control schemes for robotic manipulators. Part B: Mobile Robots 1) Present the most common forms of robot locomotion; 2) Explain the kinematic and dynamic model of various mobile robots; 3) Cover various sensing and actuation mechanisms typically used in robots; 4) Present the fundamentals of robot navigation, including: localization, mapping, path planning and obstacle avoidance; 5) Present control schemes for posture stabilization and tracking; 6) Expose the student to robot programming and simulation tools. Learning Outcomes: 1. Knowledge & Understanding By the end of the study-unit the student will be able to: 1) Describe different types of fixed and mobile robot configurations; 2) Explain various algorithms for motion planning and control of robotic manipulators; 3) Describe various sensing and actuation mechanisms typically used in robots; 4) Describe various algorithms that are used for mobile robot navigation and control. 2. Skills By the end of the study-unit the student will be able to: 1) Derive mathematical models of various fixed and mobile robots; 2) Implement basic algorithms for the motion planning and control of robotic arms; 3) Select appropriate sensors and actuators for a given robotic application; 4) Implement basic algorithms for navigation and control of mobile robots; 5) Apply a number modern tools for the programming and simulation of robots. Main Text/s and any supplementary readings: - M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control, US: John Wiley & Sons, Inc., 2006. - R. Siegwart, I. R. Nourbakhsh, and D. Scaramuzza, Introduction to Autonomous Mobile Robots, ed. 2, Cambridge, Massachusetts, US: The MIT Press, 2011. Supplementary: - B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control, London, UK: Springer-Verlag London Limited, 2009. - J. J. Craig, Introduction to Robotics: Mechanics and Control, ed. 4, UK: Pearson, 2017. - G. Dudek and M. Jenkin, Computational Principles of Mobile Robotics, ed. 2, Cambridge, UK: Cambridge University Press, 2010. |
||||||||||||||||||||
| ADDITIONAL NOTES | Co-Requisite Study-Unit: SCE3113 | ||||||||||||||||||||
| STUDY-UNIT TYPE | Lecture, Independent Study, Project and Tutorial | ||||||||||||||||||||
| METHOD OF ASSESSMENT |
|
||||||||||||||||||||
| LECTURER/S | Kenneth M. Scerri |
||||||||||||||||||||
|
The University makes every effort to ensure that the published Courses Plans, Programmes of Study and Study-Unit information are complete and up-to-date at the time of publication. The University reserves the right to make changes in case errors are detected after publication.
The availability of optional units may be subject to timetabling constraints. Units not attracting a sufficient number of registrations may be withdrawn without notice. It should be noted that all the information in the description above applies to study-units available during the academic year 2024/5. It may be subject to change in subsequent years. |
|||||||||||||||||||||