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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.
Washington Accord (V4) Summary of Graduate Attributes attained in this course: WA1 – Engineering Knowledge WA2 – Problem Analysis WA3 – Design/Development of Solutions WA5 – Tool UsageCourse topics with Learning Outcomes (and Washington Accord (WA) and UC Graduate Attributes) identified.1. Autonomous robots: Introduction to sensor fusion; 1-D Bayes filters (Kalman, histogram, and particle); Multivariate Bayes filters; Motion models; Mapping/Localisation/SLAM; Navigation and path planning 1.1. Implement Bayes filters (such as a particle filter and an extended Kalman filter) for robot sensor fusion (WA1, WA2) 1.2. Understand navigation and path planning algorithms to control an autonomous robot (WA2) 1.3. Implement a motion model for a wheeled robot (WA3, WA5) 1.4. Understand the principles of simultaneous localisation and mapping (WA2)2. Articulated manipulators: Spatial descriptions and transformations; Forward kinematics; Inverse kinematics; Jacobians; Motion planning 2.1. 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 (WA3) 2.2. 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 (WA2) 2.3. Apply simple linear interpolative path planning techniques to control end-effector motion for an articulated manipulator (WA2) 2.4. Construct the Jacobian matrix for an articulated manipulator and use it to calculate static forces and torques and derive dynamic equations for each link (WA2)
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.
Employable, innovative and enterprising
Students will develop key skills and attributes sought by employers that can be used in a range of applications.
ENME403
Students must attend one activity from each section.
Michael Hayes
Chris Pretty
For detailed course, policy, regulatory and integrity information, please refer to the UC web site, or see relevant Course or Department LEARN pages, (which are available to enrolled students).
Domestic fee $1,344.00
International fee $6,488.00
* 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 .