BIMMD16-Manipulator Dynamics and Haptics

Module Provider: School of Biological Sciences
Number of credits: 10 [5 ECTS credits]
Level:7
Terms in which taught: Autumn term module
Pre-requisites:
Non-modular pre-requisites:
Co-requisites:
Modules excluded:
Current from: 2019/0

Module Convenor: Prof William Harwin

Email: w.s.harwin@reading.ac.uk

Type of module:

Summary module description:

To describe the science underpinning the dynamics and control of manipulator robotic systems and their application; to describe theoretical and practical aspects of haptic technology.

Aims:

To describe the science underpinning the dynamics and control of manipulator robotic systems and their application; to describe theoretical and practical aspects of haptic technology.

Assessable learning outcomes:
To understand manipulator robotic systems, and see how they may be applied. To understand the design and application of haptic technology.

Additional outcomes:
EA2 topics: Robotic system design.

Outline content:
Statics, including Newton-Euler backward recursive algorithm
Definition of accelerating co-ordinate frames
Dynamics, incl. Newton-Euler full algorithm
Closed form inverse dynamics
Introduction to position and force control of manipulators
Model based positional control
Force Control
Active Vision Case Study
Haptic controller architectures
Stability of haptic devices and concepts of passivity
Controller design, including passivity estimation and impedance adapt ion
Advanced topics in haptic rendering (impulse and Force based physics)

Brief description of teaching and learning methods:
The module comprises 2 lectures per week and some revision tutorials.

Contact hours:

Ìý	Autumn	Spring	Summer
Lectures		20
Seminars			2
Guided independent study:		78
Ìý	Ìý	Ìý	Ìý
Total hours by term		98	2
Ìý	Ìý	Ìý	Ìý
Total hours for module	100

Summative Assessment Methods:

Method	Percentage
Written exam	70
Set exercise	30

Summative assessment- Examinations:
Two hours

Summative assessment- Coursework and in-class tests:

Formative assessment methods:

Penalties for late submission:

Penalties for late submission on this module are in accordance with the University policy.
The following penalties will be applied to coursework which is submitted after the deadline for submission:

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;
where the piece of work is submitted more than one calendar week after the original deadline (or any formally agreed extension to the deadline): a mark of zero will be recorded.
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.
(Please refer to the Undergraduate Guide to Assessment for further information: http://www.reading.ac.uk/internal/exams/student/exa-guideUG.aspx)

Assessment requirements for a pass:
MEng 50% overall module mark
MSc 50% overall module mark

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: 10 April 2019