Unit Description and General Aims

Robotics and Mechatronics is an engineering discipline which deals with studies the integration of mechanical, electronic and computer technologies in a wide range of machines and systems. Mechatronic systems can be found in most industrial machines, many domestic appliances, as well as in intelligent machines such as robots and unmanned aerial vehicles. The course offers a sound theoretical core in the key disciplines of mechanics, electronics and computer systems, as well as a strong practical emphasis in project and problem-based learning units which give a real world focus to theoretical concepts.

Learning Outcomes

1. Discuss contemporary issues in robotics and mechatronic engineering practice.
   Bloom's Level 2
2. Discuss machine vision and machine sensors.
   Bloom's Level 2
3. Analyse and compare machine communication, machine learning, and artificial intelligence technologies.
   Bloom's Level 3
4. Apply their knowledge of electrotechnology to understand key components of robotic and mechatronic applications, specifically concerning actuators, robot mechanics, robot kinematics, plus analogue and digital circuits.
   Bloom's Level 4
5. Design and apply closed-loop systems, programming tools, and PIC programs for robotics.
   Bloom's Level 5
6. Analyse, diagnose, plan, design, and execute solutions with respect to electrical engineering and environmental and energy management.
   Bloom's Level 6
7. Compile complex technical information and concepts to design solutions to a range of engineering environments and contexts.
   Bloom's Level 6

Student Assessment

Overall requirements: Students must achieve a result of 50% or above in the exam itself to pass the exam and must pass the exam to be able to pass the unit. An overall final unit score of 50% or above must be achieved to pass the unit once all assessment, including the exam, has been completed.

Prescribed and Recommended Readings

Textbook

1. Introduction to industrial Robotics by Ramachandran Nagarajan, 2016, ISBN: 9332544808
2. Robotics and control :Theory and practice by N.sukavanam & Felix Orlando, NPTEL.

Unit Content

One topic is delivered per contact week, with the exception of part-time 24-week units, where one topic is delivered every two weeks.

Topic 1

Robotics and Control: Theory and Practice Introduction

1. Industrial robotics, the law of robotics
2. Robotic application in manufacturing
3. Coordinate Frames and Homogeneous Transformations-I
4. Coordinate Frames and Homogeneous Frames-II
5. Differential Transformations
6. Transforming Differential Changes between Coordinate Frames
7. Kinematic Model for Robot Manipulator
8. Direct Kinematics

Topic 2

Coordinate Frames and Homogeneous Transformations – I1

1. Inverse Kinematics
2. Manipulator Jacobian
3. Manipulator Jacobian Example
4. Trajectory Planning
5. Dynamics of Manipulator
6. Manipulator Dynamics Multiple Degree of Freedom

Topic 3

Coordinate Frames and Homogeneous Transformations

1. Stability of Dynamical System
2. Manipulator Control
3. Biped Robot Basics and Flat Foot Biped Model
4. Biped Robot Flat Foot and Toe Foot Model
5. Artificial Neural Network

Topic 4

Differential Transformation

1. Neural Network based control for Robot Manipulator
2. Redundancy Resolution of Human Fingers in Cooperative Object Translation
3. Fundamentals of Robot Manipulability
4. Manipulability Analysis of Human Fingers in Cooperative Rotational Motion

Topic 5

Kinematics

1. Joint coordination space
2. Kinematics and inverse kinematics
3. Link and joint parameters
4. D-H notation of coordinate frames, D-H transformation matrix
5. D-H algorithm and application examples
6. Manipulator Jacobian, Jacobian singularities

Topic 6

Robot Sensor

1. Internal external sensor
2. Application of robot sensor
3. Proximity, touch and slip sensors
4. Opto and ultrasonic range sensors
5. Force sensors

Topic 7

Robot control

1. Euler Lagrange equation
2. Joint motion - linear control system
3. Second-order systems
4. State space equations
5. Lyapunov stability, Lyapunov first and second method
6. Control unit, electric hydraulic and pneumatic drives
7. Inspection using industrial vision

Topic 8

Robot Programming and Work Cell

1. Language structure, current programming language and application
2. Robot motion and example
3. Sensor integration
4. Interference problems

Topic 9

Artificial Intelligence

1. AI Techniques
2. Search Techniques
3. Problem Solving
4. LISP Statement
5. Examples

Topic 10

Robotic Dynamics

1. Definitions of Variables
2. Lagrangian Design
3. Generalized Coordinates
4. Generalized Forces
5. Lagrangian Equation
6. N-Link Robot Manipulator
7. Slender Rod as Robot Link

Topic 11

Fuzzy logics and robot joints

1. Probability and Possibility – Possibility Distribution Functions
2. Description of a Fuzzy Set – Fuzzy Set Operations – Fuzzy Relation
3. Designing FL Controllers – A General Scheme of a FLC
4. Development of FAM Table and Fuzzy Rules

Topic 12

Project and Unit Review

In the final week, students will have an opportunity to review the contents covered so far. Opportunity will be provided for a review of student work and to clarify any outstanding issues. Instructors/facilitators may choose to cover a specialized topic if applicable to that cohort.

Software/Hardware Used

Software

• Software: N/A
• Version: N/A
• Instructions:  N/A
• Additional resources or files: N/A

Hardware

• N/A

Unit Changes Based on Student Feedback