MODULE DETAILS

Module 6: Robot Kinematics DMCRKI606

Nominal duration: 6 weeks (72 hours total time commitment)

This time commitment includes the structured activities, preparation reading, and attendance at each webinar, completing exercises, practical assessments and proctored assessments.

It is also expected that students spend additional time on readings, personal study, independent research and learning, practicing on remote labs and required software and working on any projects and assignments.


The module covers the relationship between the dimensions and interconnection of kinematic chains (e.g. the parts of a robot arm) and the position, velocity and acceleration of each of the links in the system. It also covers planning and control of movement that allows computation of forces and torques in the system.

MODULE PURPOSE

The purpose of this module is for the participants to develop fundamental knowledge about principles of 'Forward Kinematics' and 'Inverse Kinematics’.

PRE-REQUISITE MODULES/UNIT(S)

NA

MODIFICATION HISTORY Version 2.0

ASSESSMENT STRATEGY

 

METHODS OF ASSESSMENT

Assessors should gather a range of evidence that is valid, sufficient, current and authentic. Evidence can be gathered through a variety of ways including direct observation, supervisor's reports, project work, structured assessments, samples and questioning. This will include short answer questions on the knowledge content, the use of remote and virtual labs, and writing tasks to apply the learning to academic tasks.

CONDITIONS OF ASSESSMENT

 Assessors must:

  • hold the appropriate assessor competency standards as outlined in regulations; and
  • be able to demonstrate vocational competencies at least to the level being assessed; and
  • be able to demonstrate how they are continuing to develop their VET knowledge and skills as well as maintaining their industry currency and assessor competence.

Questioning techniques should not require language, literacy and numeracy skills beyond those required in this module. The candidate must have access to all tools, equipment, materials and documentation required.

The candidate must be permitted to refer to any relevant workplace procedures, product and manufacturing specifications, codes, standards, manuals and reference materials.

Assessments will be open book assessment and may be completed off-campus. Invigilation software will be used for some assessments to ensure authenticity of work completed.

Model answers must be provided for all knowledge-based assessments to ensure reliability of assessment judgements when marking is undertaken by different assessors.

SUMMARY OF LEARNING OUTCOMES

  1. Perform matrix calculations
  2. Apply the Denavit-Hartenberg notation to robot arms

Learning Outcome 1

Perform matrix calculations

Assessment criteria

1.1.   Perform matrix addition and multiplication algebraically

 

1.2.   Perform matrix computations with MATLAB (or alternative)

 

1.3.   Perform simple vector algebra (addition and multiplication) with MATLAB (or alternative)

 

Learning Outcome 2 Apply the Denavit-Hartenberg notation to robot arms
Assessment criteria

2.1.   Explain forward and inverse kinematics

 

2.2.   Perform both Forward Kinematics and Reverse Kinematics for a robot arm by means of the following approaches:

(a) Geometric

(b) Algebraic

(c) MATLAB (or alternative)

 

2.3.   Apply the four Denavit–Hartenberg (D-H) parameters viz.: ‘a’, ‘α’, ‘d’ and ‘Y’ to attach reference frames to the links of a spatial kinematic chain

Delivery Mode

Online and/or face-to-face

Software/Hardware Used

Software

  • MATLAB

Hardware

  •  N/A