COMP0127 Robotic Systems Engineering
This database contains the 2018-19 versions of syllabuses.
Note: Whilst every effort is made to keep the syllabus and assessment records correct, the precise details must be checked with the lecturer(s).
Robotic Systems Engineering
The students will gain insight into robotics systems and the general concepts, mathematic and algorithms that underpin moving and actuating robotic arms and devices. Specific topics we cover: fundamental linear algebra, kinematics and inverse kinematics, actuation dynamics and mechanisms, and motion planning.
On successful completion of the module, a student will be able to:
- understand robot kinematics
- understand robot motion planning
- understand different robotic mechanisms, specifically robotic arms
- programme with Python and ROS (optional C++)
Availability and prerequisites
This module delivery is available for selection on the below-listed programmes. The relevant programme structure will specify whether the module is core, optional, or elective.
In order to be eligible to select this module as optional or elective, where available, students must meet all prerequisite conditions to the satisfaction of the module leader. Places for students taking the module as optional or elective are limited and will be allocated according to the department’s module selection policy.
Programmes on which available:
There are no formal prerequisites.
Students are recommended to be able to use Linux and have some background in programming, especially using Python, and be comfortable with linear algebra.
The aim of this module is to provide the basic theory required for solving problems involving the motion of robotics and autonomous systems from a practitioner's point of view.
The module presents theory and methodology for analysis and modelling of robot kinematics, and methods for moving robots within workspaces. Special emphasis is placed on:
- Linear algebra needed for robot motion and transformation
- Robot kinematics and DH tables
- Inverse kinematics and solving inverse systems
- Planning and executing robot motion
Theoretical lectures will be accompanied by corresponding practical exercises using ROS and predominantly carried out in simulation.
An indicative reading list is available via http://readinglists.ucl.ac.uk/departments/comps_eng.html.
The module is delivered through a combination of lectures, tutorials, seminars, written and programming exercises, and project work.
This module delivery is assessed as below:
In order to pass this module delivery, students must achieve an overall weighted module mark of 50%.