Module Leader
Dr Petar Kormushev
p.kormushev@imperial.ac.uk
+44 (0)20 7594 9235
Professor Thrishantha Nanayakkara
t.nanayakkara@imperial.ac.uk
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This module provides an introduction to the field of robotics without requiring prior knowledge or experience in this topic. The students will be acquainted with the most important theoretic building blocks in robotics, namely, kinematics and dynamics of robots, robot control and motion planning algorithms.
Learning Outcomes
On completion of this module, students will be better able to: - Create mathematical models of robot kinematics and analyse them.
- Create mathematical models of robot dynamics and analyse them.
- Design suitable controllers for specific robots and specific tasks.
- Apply algorithms for motion planning.
- Program robots using Robot Operating System.
- Design, implement, and test a given robotic task.
- Enact good collaborative practices of documentation (incl. source code) and team communication.
Description of Content
Robot Kinematics:
2D kinematics
3D kinematics
Robot Dynamics:
2D dynamics
Rigid body dynamics equations
Robot Control:
Feedforward control
Feedback control
Robot Motion Planning:
Heuristic planning
Geometric planning
Sampling-based planning
Graph-based planning
Contact us
Dyson School of Design Engineering
Imperial College London
25 Exhibition Road
South Kensington
London
SW7 2DB
design.engineering@imperial.ac.uk
Tel: +44 (0) 20 7594 8888