Module Catalogues, Xi'an Jiaotong-Liverpool University   
Module Code: RBE303TC
Module Title: Robot Modeling and Control
Module Level: Level 3
Module Credits: 5.00
Academic Year: 2022/23
Semester: SEM1
Originating Department: School of Robotics
Pre-requisites: N/A
To introduce students to the fundamental concepts in robotics, such as Forward and Inverse Kinematics, Dynamics, Workspace, Trajectory Planning and Control.

To provide the basic knowledge and skills to design and build industrial robotic systems, and to understand the advantages and disadvantages of their deployment.
Learning outcomes 
A. Understand fundamental concepts in robot design and application

B. Derive the homogenous transformation matrices for multi-degrees of freedom robotic systems

C. Model the kinematic chains of robotic manipulators

D. Analyse the kinematic chains to solve for the inverse kinematics

E. Modelling of manipulator dynamics

F. Implement control algorithms on robotic joints and relate theoretical analysis to physical observations of robotic systems

G. Have hands-on skills on the control of industrial robotic systems
Method of teaching and learning 
This module will be delivered through a combination of formal lectures and supervised laboratory sessions. Coursework will be assigned in Week 5 and 10.
Part 1: Introduction to Industrial Robotics

Part 2: Rigid Motions and Homogeneous Transformations

Part 3: Forward and Inverse Manipulator Kinematics

Part 4: Jacobians: velocities and statics forces

Part 5: Manipulator Dynamics

Part 6: Path and Trajectory Planning

Part 7: Robot Joint Control

Part 8: Robot Operating System, an Introduction
Delivery Hours  
Lectures Seminars Tutorials Lab/Prcaticals Fieldwork / Placement Other(Private study) Total
Hours/Semester 39    13  18    80  150 


Sequence Method % of Final Mark
1 Laboratory With Continuous Assignments 1 15.00
2 Laboratory With Continuous Assignments 2 15.00
3 Laboratory With Continuous Assignments 3 15.00
4 Final Exam 55.00

Module Catalogue generated from SITS CUT-OFF: 6/3/2020 1:14:25 AM