This course provides an introduction to the mechanics of robots and spatial mechanics. The theoretical focus is on kinematics and dynamics of robotic manipulators and control design for non-linear mechanical systems. Topics covered include: homogeneous coordinate transformations, representation of spatial orientation, Denavit-Hartenberg link descriptions, forward and inverse kinematics, Jacobian rate and static force relations, singularities, recursive Newton-Euler iteration and Euler-Lagrange derivations of manipulator dynamics, trajectory planning, linear control, computed torque control, passivity based control. The applied component of the course includes experimental work with robotic manipulators and a mechatronic design and build project.

By studying this course, students will be

1. familiar with the history, concept development and key components of robotics technologies.
2. understand basic mathematic manipulations of spatial coordinate representation and transformation. 
3. understand and able to solve basic robot forward and inverse kinematics problems.
4. understand and able to solve basic robotic dynamics, path planning and control problems. 
5. able to undertake practical robotics experiments that demonstrate the above skills.

Assignments (30%); Laboratories (20%); Final Exam (50%)

12-week lectures and 5 assignments and 5-6 tutorials

ENGN2221

Recommended text:

• M. Spong, S. Hutchinson and M. Vidyasager, Robot Modelling and Control, Wiley, 2006.

Other books that may be useful:

• M. Spong, M. Vidyasager, Robot Dynamics and Control, Wiley.
• Sciavicco and Siciliano, Modelling and Control of Robotic Manipulators, Springer
• J. Angeles, Fundamentals of Robotic Mechanical Systems, Mechanical Engineering Series.
• Craig, Introduction to Robotics: Mechanics and Control, Addison-Wesley.

Course page http://eng.anu.edu.au/study/currentstudents/courses