Module Guide
Robotics
EEE-7-ROB
School of Engineering
2020-2021
Level 7
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Table of Contents
1. Module Details ................................................................................................................................ 3
2. Short Description............................................................................................................................. 3
3. Aims of the Module ......................................................................................................................... 3
4. Learning Outcomes ......................................................................................................................... 3
4.1 Knowledge and Understanding ....................................................................................................... 3
4.2 Intellectual Skills.............................................................................................................................. 4
4.3 Practical Skills ................................................................................................................................. 4
4.4 Transferable Skills........................................................................................................................... 4
5. Assessment of the Module .............................................................................................................. 4
6. Feedback ........................................................................................................................................ 4
7. Introduction to Studying the Module ............................................................................................... 4
7.1 Overview of the Main Content ......................................................................................................... 4
7.2 Overview of Types of Classes ........................................................................................................ 5
7.3 Importance of Student Self-Managed Learning Time ..................................................................... 5
7.4 Employability ................................................................................................................................... 5
8. The Programme of Teaching, Learning and Assessment .............................................................. 6
9. Student Evaluation .......................................................................................................................... 6
10. Learning Resources ........................................................................................................................ 6
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1. MODULE DETAILS
Module Title: Robotics
Module Level: 7
Module Reference Number: EEE-7-ROB
Credit Value: 20
Student Study Hours: 200
Contact Hours: 48
Private Study Hours: 152
Pre-requisite Learning (If applicable): Bachelors degree in a relevant subject
Co-requisite Modules (If applicable): none
Course(s): MSc Mechatronics, Robotics and Embedded
Systems
Year and Semester 2020-2021, Semester I
Module Coordinator: Dr. J.M. Selig
MC Contact Details (Tel, Email, Room) 7815 7461, seligjm@[Link], T811
Teaching Team & Contact Details Dr Zhanfang Zhao, zhaoza@[Link], T815.
(If applicable):
Subject Area: Electrical & Electronic Engineering
Summary of Assessment Method: 60% Exam 40% Coursework
External Examiner appointed for module: Dr. Mahdi Mahfouf, The University of Sheffield.
2. SHORT DESCRIPTION
This module aims to introduce students to the basic elements and principles of modern robotics.
Essential geometric concepts of rigid-body displacements will be introduced and these will be
applied to the kinematic analysis of several different types of machines. Differential kinematics
will be developed and this will lead on to a study of the statics and dynamics of robots. Finally,
some of the problems concerned with the control of these machines will be considered.
A key feature of the module will be the wide range of robotic devices studied, from industrial
serial and parallel manipulators, through mobile robots to quadcopters.
The laboratory exercises are designed to consolidate understanding of the complex topics of
robot kinematics and programming as well as extending the appreciation of the practical
considerations of the subject.
The coursework assignment is designed to develop student’s knowledge of practical state-of-the-
art applications and developments in the field.
3. AIMS OF THE MODULE
The aim of this module is to develop a thorough theoretical and practical understanding of the
fundamental concepts of modern robotics. High level knowledge, critical evaluation and practical
skills for real-world research problems will also be developed.
4. LEARNING OUTCOMES
4.1 Knowledge and Understanding
To gain a comprehensive knowledge of the concepts of robotics and robot mechanisms to a
specialist level. To develop a critical awareness of the mathematics of rigid-body displacements
and its applications to problems in kinematics and dynamics of robots.
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4.2 Intellectual Skills
To be able to critically evaluate a problem and then select and apply specialised methods to
produce a solution.
To acquire a high-level of analytical skills in modelling kinematics and dynamics of robot
mechanism.
4.3 Practical Skills
To appreciate the problems of programming robots, using a variety of hardware and
programming languages.
4.4 Transferable Skills
To effectively communicate and critically evaluate observed results in a technical format.
Problem solving, communication, working with others, information retrieval and the effective use
of general IT facilities.
5. ASSESSMENT OF THE MODULE
The assessment for this module will be in three parts. The end of module exam will be a 2 hours
exam and will account for 60% of the final mark. The coursework component of the module will
be in 2 parts, the completed laboratory logbook will be marked and will make up 20% of the mark
for the module. This will be marked every other week by the Lab tutor. Finally, a formal
assignment will be set. This will be in the form of an essay. The essay should be between 5,000
and 10,000 words. The deadline for the assignment will be Friday 11 December 2020.
6. FEEDBACK
Feedback will normally be given to students 15 working days after the final submission of an
assignment or as advised by their module leader.
General feedback, applying to all students, will also be placed on the module VLE site within 15
working days.
7. INTRODUCTION TO STUDYING THE MODULE
7.1 Overview of the Main Content
The Introduction will give a general overview of the subject and its historical background.
The next few lectures will cover the representation of rigid-bodies and their
displacements. This will be done by building up the theory looking at planar bodies first,
then pure rotations in space and finally the full 4x4 representations of rigid-body
displacements in space. The theory will be illustrated by examples deriving the forward
kinematics of several standard robot structures. A lecture on Coordinate frames will
make links to the traditional method of deriving the forward kinematics of serial robots
using the Denavit-Hartenberg parameters. This lecture will also introduce the tool frame
and show how to derive its kinematics.
In the next class the inverse kinematics of robots will be discussed, that is the solution of
the forward kinematics
A lecture on velocities and twists will introduce the Jacobian of a manipulator and simple
ways to compute the Jacobian matrix of the robot. This will involve a study of the six
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dimensional vectors known as twists. The exponential form of the robot’s A-matrices will
be given and the product-of-exponentials formula for the forward kinematics will be
explained. The following lecture concerns the statics of robots and rigid bodies. The
concept of a wrench as the dual to a twist will be introduced and applications to force
sensing will be examined. This work acts as a bridge between the first half of the module
which concerns mainly kinematics and the second half which addresses the problems of
dynamics and control of robots.
The dynamics of serial robot are considered in the next couple of lectures. In the first of
these only a single body is considered, then in the second simple methods are used to
combine the equations of motion for each link of the robot to produce the dynamic model
of the robot. Algorithms to compute the inverse dynamics of the robot will be discussed
along with other algorithms to compute the generalised mass matrix of the robot and to
solve the forward dynamics problem.
The final pair of lectures look at robot control. In the first lecture the computed torque
method will be introduced both as a feed-forward open loop and as part of a feed-back
method to cancel the dynamics of the robot. In the final lecture force control and hybrid
force-position control will be discussed.
7.2 Overview of Types of Classes
The course will be composed of lectures and laboratory classes. Notes for the classes
including tutorial exercises will be made available via the Virtual Learning Environment
(Moodle).
7.3 Importance of Student Self-Managed Learning Time
Student responsibility in the learning and development process will be emphasised.
Students are required to undertake directed self-study and prepare solutions/discussions
to questions relative to various topic areas. Students will be encouraged to identify for
themselves particular problems of difficulty and to use seminar discussions, where
appropriate, for the resolution of these. Students must regularly access the Moodle site
for this module. They should download the class/lecture material from the Moodle site,
and do the recommended reading, before each lecture/class.
Where appropriate, students are also expected to download the relevant seminar
questions and study them in advance of each seminar, in order to derive maximum
benefit from seminar time. The programme of teaching, learning and assessment gives
guidance on the textbook reading required for each week, the purpose of which is to
encourage further reading both on and around the topic.
7.4 Employability
This module will provide students with a high-level knowledge of robotics and robot
programming. This knowledge will help students gain employment in the burgeoning
fields Robotics, or in the many engineering based enterprises requiring manipulation and
locomotion of parts and products.
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8. THE PROGRAMME OF TEACHING, LEARNING
AND ASSESSMENT
SEMESTER 1
WEEK TOPIC READING (CORE TEXT)
1 23/09/2020 Introduction See Lecture notes
2 30/09/2020 Rigid Body Displacements in the Plane
3 07/10/2020 Rotations in Space
4 14/10/2020 Rigid Body Displacements in Space
5 21/10/2020 Coordinate Frames
6 28/10/2020 Inverse Kinematics
7 04/11/2020 Jacobians
8 14/11/2020 Statics
9 18/11/2020 Dynamics of a Single Rigid Body
10 25/11/2020 Dynamics of Serial Arm
11 02/12/2020 Position Control of Robot Arms
12 09/12/2020 Revision
9. STUDENT EVALUATION
Only three students, out of seventeen completed the online module evaluation questionnaire last
year.
10. LEARNING RESOURCES
Weekly notes will be provided via the moodle site for the module. These will contain exercises to
be completed by students.
Reading List
1. K. M. Lynch, F. C. Park, Modern Robotics: Mechanics, Planning and Control, Cambridge,
2017. [ISBN: 1107156300]
2. L. Joseph and J. Cacace, Mastering ROS for Robotics Programming - Second Edition:
Design, build, and simulate complex robots using the Robot Operating System, Packt
Publishing; 2018. [ISBN: 1788478959]
3. B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control
(Advanced Textbooks in Control and Signal Processing), Springer, 2010. [ISBN:
1849966346]
4. M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley, 2005.
[ISBN: 0471649902]
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