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This course is structured as two parts: (1) articulated robot manipulators and (2) autonomous mobile robotics. Articulated manipulators form an important class of robots that are commonly used in industrial situations. The purpose of this part of the course is to introduce students to fundamental concepts of geometry, kinematics, dynamics, and control of robotic systems allowing students to model and analyse a robot manipulator. The autonomous mobile robotics part of the course is an introduction to the probablistic robotics techniques that underpin self-driving cars and other autonomous robots. This course is project-based and students will be given the opportunity to apply the material in both simulation and with real industrial and research robots through project work.
Develop and apply forward kinematics to obtain the end-effector position and orientation in the base coordinate frame as a function of the joint parameters for an articulated manipulator Apply inverse kinematics to calculate all possible sets of joint parameters that result in a given end-effector position and orientation relative to the base coordinate frame Construct the Jacobian matrix for an articulated manipulator and use it to calculate static forces and torques and derive dynamic equations for each link Apply simple linear interpolative path planning techniques to control end-effector motion for an articulated manipulatorUnderstand the principles of Bayes filters for probabilistic robotics and their application to sensor fusion, mapping, localisation, and simultaneous localisation and mappingImplement a particle filter and a Kalman filter for robot sensor fusionApply navigation and path planning algorithms to control a robot using the robot operating system (ROS)
This course will provide students with an opportunity to develop the Graduate Attributes specified below:
Critically competent in a core academic discipline of their award
Students know and can critically evaluate and, where applicable, apply this knowledge to topics/issues within their majoring subject.
Students must attend one activity from each section.
Domestic fee $1,102.00
International fee $5,500.00
* Fees include New Zealand GST and do not include any programme level discount or additional course related expenses.
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