ENMT482-21S2 (C) Semester Two 2021


15 points

Start Date: Monday, 19 July 2021
End Date: Sunday, 14 November 2021
Withdrawal Dates
Last Day to withdraw from this course:
  • Without financial penalty (full fee refund): Sunday, 1 August 2021
  • Without academic penalty (including no fee refund): Friday, 1 October 2021


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.

Learning Outcomes

1. 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

2. 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

3. Construct the Jacobian matrix for an articulated manipulator and use it to calculate static forces and torques and derive dynamic equations for each link
4. Apply simple linear interpolative path planning techniques to control end-effector motion for an articulated manipulator

5. Understand the principles of Bayes filters for probabilistic robotics and their application to sensor fusion, mapping, localisation, and simultaneous localisation and mapping

6. Implement a particle filter and a Kalman filter for robot sensor fusion

7. Apply navigation and path planning algorithms to control a robot using the robot operating system (ROS)

University Graduate Attributes

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.


Course Coordinator

Michael Hayes


Chris Pretty


Assessment Due Date Percentage 
Assignment one 25%
Assignment two 25%
Exam 50%

Indicative Fees

Domestic fee $1,114.00

International fee $5,500.00

* All fees are inclusive of NZ GST or any equivalent overseas tax, and do not include any programme level discount or additional course-related expenses.

For further information see Mechanical Engineering .

All ENMT482 Occurrences

  • ENMT482-21S2 (C) Semester Two 2021