Semester 2, 2009
Announcements
Course Summary
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Course Code(s): |
METR4202/METR7202 |
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Unit Value: |
#2 |
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Contact Hours: |
2 hours lecture, 1 hours tutorial, 2 hours practical. |
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Purpose: |
This course teaches how to design and control multi-link robot arms.
Robot arms require specialised mathematical techniques to solve the
complex geometrical problems of calculating the correct positions and
speeds to drive the robot motors in order to move the arm in the
desired manner.
In the first part of the course you will use these techniques to design and control a robot arm that you will build yourself from LEGO components. The mathematical techniques that are used to calculate positions and speeds to control the LEGO arm through complex trajectories. In the second part of the course you will learn how to build advanced controllers. The controller design methods
are applicable to a range of challenging design problems in
industrial and research settings. You will demonstrate what you
learn by designing an advanced controller for a new type of robot
actuator called a Series Elastic Actuator. |
Teaching Staff
Dr Gordon Wyeth (Course Coordinator)
Office: Axon(47)-309
Phone: (07) 3365-3770
Fax: (07) 3365-4999
Email: wyeth@itee.uq.edu.au
Consultation Time: By appointment. Contact by email: wyeth@itee.uq.edu.au
Tutors
William Maddern
Chris Lehnert
Course Profile
Profile for METR7202 (note different grade bands for Postgraduate version of course).
Newsgroup
The course newsgroup is uq.itee.metr4202.
Timetable
Lecture: Wednesday 10 am -12 noon, 82D-301.
Tutorial: Monday 1 - 2 pm, 39A-208.
Pracs: Wednesday 12 noon - 2 pm, Friday 1 pm - 3 pm, 47-401. Sign in on Si-Net available after first lecture.
Textbooks
Both texts are essential for this course. It is recommended that you have a
copy of each. You may use the earlier edition of Nise if you have previously
purchased it for your control studies, but the lecture notes will be coordinated
with the 5th edition.
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