5ELEN018W - Robotic Principles

Autumn 2024

Dr Dimitris C. Dracopoulos

Python and Simulink are used to demonstrate, understand these principles and get practical hands on the material covered.

Tutorials:  1  2  3  4  5  6 

Selected Tutorial Solutions:  1  2  3  4 

Assignments:

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

Syllabus

1. Introduction to Python
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

Dr Dimitris C. Dracopoulos, , 7.116 Copland Building.

Office hours: Email me to arrange a meeting.

Reading Material

Reading Guide.

Assessment Process

• Coursework: 50%
• In-Class Test: 50%