Robotics Mechanics and Control | CET Courses

Singapore University of Social Sciences

Robotics Mechanics and Control (EAS401)

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 robotics and autonomous systems
Concepts of vector and matrix in mathematics and physics
Fundamentals of linear algebra
Spatial descriptions
Mechanics of a particle and a system of particles
Spatial transformations
Rigid body equations of motion
Dynamics of autonomous systems
Sensor and actuators
Mechanism of robot manipulator
Navigation of autonomous ground and aerial vehicles
Control of autonomous systems
Simulation of autonomous systems

Learning Outcome

Appraise applications of robotics and autonomous systems
Solve kinematics and dynamics of a physical system
Discuss cutting-edge technologies used in autonomous systems
Examine working principles of robot sensors and actuators
Analyse controllers of an autonomous system
Formulate physical equations and numerical models of an autonomous system
Experiment with the Python programming for computational algorithms of autonomous systems
Design autonomous systems in a simulation environment