ELEC622 

Module Name Industrial Robotics and Mechatronic (Elective) 
Module Code ELEC622 
Level Six 
Credits 15 

Module 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 modules which give a real-world focus to theoretical concepts.  

Learning Outcomes 

On successful completion of this Module, students are expected to be able to: 

  1. Discuss contemporary issues in robotics and mechatronic engineering practice 

Bloom’s Level 2 

  1. Discuss machine vision and machine sensors 

Bloom’s Level 2 

  1. Analyse and compare machine communication, machine learning and artificial intelligence technologies 

Bloom’s Level 3 

  1. 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 

  1. Design and apply closed loop systems, programming tools and PIC programs for robotics 

Bloom’s Level 5 

  1. Analyse, diagnose, plan, design and execute solutions with respect to industrial automation engineering and environmental and energy management 

Bloom’s Level 6 

  1. Compile complex technical information and concepts to design solutions to a range of engineering environment and contexts 

Bloom’s Level 6 

Prescribed and Recommended Readings  

Textbook 

  • Introduction to industrial Robotics by Ramachandran Nagarajan  
  • Robotics and control: Theory and practice by N. Sukavanam & Felix Orlando  

Module Content  

One topic is delivered per contact week.  

Topic 1 

Robotics and Control: Theory and Practice Introduction 

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

Topic 2  

Coordinate Frames and Homogeneous Transformations – I1 

  1. Inverse Kinematics  
  1. Manipulator Jacobian  
  1. Manipulator Jacobian Example  
  1. Trajectory Planning  
  1. Dynamics of Manipulator  
  1. Manipulator Dynamics Multiple Degree of Freedom 

Topic 3  

Coordinate Frames and Homogeneous Transformations  

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

Topic 4  

Differential Transformation 

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

Topic 5 

Kinematics 

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

Topic 6  

Robot Sensor  

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

Topic 7  

Robot Control  

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

Topic 8 

Robot Programming and Work Cell 

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

Topic 9 

Artificial Intelligence  

  1. AI Techniques  
  1. Search Techniques  
  1. Problem Solving  
  1. LISP Statement 
  1. Examples 

Topic 10 

Robotic Dynamics 

  1. Definitions of Variables  
  1. Lagrangian Design  
  1. Generalized Coordinates  
  1. Generalized Forces  
  1. Lagrangian Equation  
  1. N-Link Robot Manipulator  
  1. Slender Rod as Robot Link  

Topic 11 

Fuzzy Logics and Robot Joints  

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

Topic 12 

Project and Module 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.