Evaluation of sensors and transducers used in robotic applications
Overview of industrial robot arms and how to program them
Digital implementation of PID control
Forward kinematics using D-H matrices
Inverse kinematics
The Jacobean matrix and its use in force and speed determination
Trajectory control
Machine vision and image processing
Neural networks
Current advances in robotics

Lectures / tutorials - 24 hours
Practical laboratory work - 24 hours
The lectures will focus on practical application of each new topic, with the course being delivered so the student has access to a PC and can simulate the concepts alongside the lecture. Robot simulation software will allow each student to practice using a robot whilst software will be used to underpin the control theory, kinematics, trajectory and vision. Group learning will be encouraged.
The tutorials will be run as a question answer session away from the computers where students can ask specific questions or work on example problems.

Kurfess.T. (2005), Robotics and Automation Handbook. London: CRC.
Niku. S. (2011), Introduction to Robotics: Analysis, Control, Application, 2nd edn. Chichester, West Sussex: John Wiley & Sons.
Jazar. R. (2010), Theory of Applied Robotics: Kinematics, Dynamics and Control. London: Springer.
Spong, M. (2006), Robot Modeling and Control. Hoboken, NJ: John Wiley & Sons.
Craig, J.J. (2005), Introduction to Robotics, Mechanics and Control, 3rd edn. Upper Saddle River, NJ: Pearson.
Corke, P. (2011), Robotics, Vision and Control: Fundamental Algorithms in MATLAB. London: Springer.
Nise, N. S. (2011), Control Systems Engineering, 6th edn. Asia: John Wiley & Sons.
Dorf, R. C and Bishop, R. H. (2010), Modern Control Systems, 12th edn. Upper Saddle River, NJ: Pearson.
Golnaraghi, F. and Kuo, B. C. (2009), Automatic Control Systems, 9th edn. Chichester, West Sussex: John Wiley & Sons.
Li, S. and Jin, L. (2017), Competition-Based Neural Networks with Robotic Applications. London: Springer

PCs running MATLAB with Control Toolbox and Robotics Toolbox
PCs with interface cards
Control laboratory equipment
Stepper motors
Robot arm

Library resources (books, journals accessible online, full IEEE Xplore access to academic papers, and various magazines)

None

1. Demonstrate a comprehensive understanding and critical evaluation of the application of PID control for robotics. (AHEP 3: SM7M, EA5m, G1)

2. Demonstrate originality in the application of knowledge, together with a practical understanding of usability, in specifying a complete robotic system as an integrated solution for a specific problem. (AHEP 3: EA6M, EA7M, D10M, EL11M, P12M, P10m, G1)

3. Demonstrate critical awareness and evaluation of current research in order to apply analytical techniques for solving the kinematics of a robot manipulator. (AHEP 3: SM8M, EA6M, EA5m, EA7M, G1)

4. Evaluate the complex issues both systematically and creatively to program an industrial robot arm to achieve a specified industrial task. (AHEP 3: EA6M, EA7M, D10M, G1)

A COURSEWORK weighted at 50%. An EXAM length 2 HOURS weighted at 50%.

1) One coursework weighted at 50%. The coursework consists of a 2,000-word report on laboratory-based work to design and implement a robotic solution to meet a specific objective, which will assess learning outcomes 2 and 4. Meeting AHEP 3 Outcomes EA6M, EA7M, D10M, EL11M, P12M, P10m, G1.

2) Two hour written examination weighted at 50%, which will assess learning outcomes 1 and 3. Meeting AHEP 3 Outcomes SM7M, SM8M, EA6M, EA5m, EA7M, G1,