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:
Current from: 2018/9

Module Convenor: Dr Yoshikatsu Hayashi

Email: y.hayashi@reading.ac.uk

Type of module:

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

Summative assessment- Examinations:
One 2-hour examination paper in May/June.

Summative assessment- Coursework and in-class tests:

Formative assessment methods:

Penalties for late submission:
The Module Convener will apply the following penalties for work submitted late:

where the piece of work is submitted after the original deadline (or any formally agreed extension to the deadline): 10% of the total marks available for that piece of work will be deducted from the mark for each working day[1] (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.

Assessment 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: 20 April 2018