BI3MM16-Machines in Motion

Module Provider: School of Biological Sciences
Number of credits: 10 [5 ECTS credits]
Level:6
Terms in which taught: Autumn term module
Pre-requisites: SE1CY15 Cybernetics and SE1MA15 Mathematics
Non-modular pre-requisites:
Co-requisites:
Modules excluded:
Module version for: 2017/8

Module Convenor: Dr Yoshikatsu Hayashi

Email: y.hayashi@reading.ac.uk

Summary module description:

Kinematics of mechanisms is developed to gain an understanding of how motion velocities and accelerations propagate through linkages. While the main focus is on robot manipulators, the module will extend to human representation and wheeled robots.


Aims:
Kinematics of mechanisms is developed to gain an understanding of how motion velocities and accelerations propagate through linkages. While the main focus is on robot manipulators, the module will extend to human representation and wheeled robots.

Assessable learning outcomes:
To understand kinematics and its use in studying various systems

Additional outcomes:
EA2 topics: Kinematics system design

Outline content:

  • Coordinate Frames, homogenous transforms, rotations, translations
  • Forward kinematics of manipulators
  • Detailed examples for manipulators
  • Newton Euler recursive algorithm for velocity propagation
  • Kinematics for mobile robots
  • Inverse kinematics, to include Piper’s algorithm
  • Inverse kinematics for Stewart Platforms
  • Trajectory generation
  • Path planning

Brief description of teaching and learning methods:
Lectures with examples

Contact hours:
  Autumn Spring Summer
Lectures 20
Tutorials 1
Practicals classes and workshops 3
Guided independent study 72 4
       
Total hours by term 95.00 5.00
       
Total hours for module 100.00

Summative Assessment Methods:
Method Percentage
Written exam 100

Other information on summative assessment:

Formative assessment methods:

Penalties for late submission:
The Module Convenor will apply the following penalties for work submitted late, in accordance with the University policy.

  • where the piece of work is submitted up to one calendar week after the original deadline (or any formally agreed extension to the deadline): 10% of the total marks available for the piece of work will be deducted from the mark for each working day (or part thereof) following the deadline up to a total of five working days;
  • where the piece of work is submitted more than five working days after the original deadline (or any formally agreed extension to the deadline): a mark of zero will be recorded.

  • The University policy statement on penalties for late submission can be found at: http://www.reading.ac.uk/web/FILES/qualitysupport/penaltiesforlatesubmission.pdf
    You are strongly advised to ensure that coursework is submitted by the relevant deadline. You should note that it is advisable to submit work in an unfinished state rather than to fail to submit any work.

    Length of examination:
    One 2-hour examination paper in May/June.

    Requirements for a pass:
    40%

    Reassessment arrangements:
    Examination only.
    One 2-hour examination paper in August/September.

    Additional Costs (specified where applicable):
    1) Required text books:
    2) Specialist equipment or materials:
    3) Specialist clothing, footwear or headgear:
    4) Printing and binding:
    5) Computers and devices with a particular specification:
    6) Travel, accommodation and subsistence:

    Last updated: 11 September 2017

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