Course - Robotics - TPK4170
Robotics
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About the course
Course content
This course gives an introduction to robotics so that the student will have the competence to design and implement robotic systems. This is done by presenting topics from geometry, kinematics, dynamics, and control systems:
- Configuration Space: Degrees of freedom, topology, parameterization, task space, and workspace.
- Rigid-Body Motions: Rotation matrices, exponential coordinates, homogeneous transformation matrices, screws, twists, and wrenches.
- Forward Kinematics: The product of exponentials (PoE) formula, the Denavit-Hartenberg convention.
- Velocity Kinematics and Statics: Jacobian, statics of open chains, singularity analysis, and manipulability.
- Inverse Kinematics: Analytic and numerical inverse kinematics.
- Dynamics of Open Chains: Forward and inverse dynamics, Euler-Lagrange and recursive Newton-Euler formulations.
- Trajectory Generation: Path, trajectory, and time-scaling.
- Robot Control: Motion and force control.
Learning outcome
The course shall give knowledge about:
- Industrial robots
- Robot kinematics, coordinate frames, and Jacobian matrices.
- Robot dynamics.
- Control systems for motion control and control of interaction forces.
The course shall develop skills in:
- The use of Python to compute the position and orientation of the robot end-effector from the robot joint variables and vice versa.
- Programming of robot motion.
The course shall give competence in:
- Design and implementation of robot systems.
Learning methods and activities
Lectures and compulsory lab and theory exercises.
The lectures and exercises are in English when students who do not speak Norwegian take the course. If the teaching is in English, the Examination papers will be in English only. Students are free to choose Norwegian or English for written assessments.
Compulsory assignments
- Theoretical exercises
Further on evaluation
Mandatory work from previous semester can be accepted by the Department by re-take of an examination if there haven't been any significant changes later. If there is a re-sit examination, the examination form may be changed from written to oral.
Recommended previous knowledge
It is recommended that the students in the course have proficiency in Python programming on the same level as TDT4110 - Information Technology.
Course materials
K. M. Lynch and F. C. Park, Modern Robotics: Mechanics, Planning, and Control. Cambridge University Press. 2017.
Subject areas
- Manufacturing Systems
- Production Engineering
- Production and Quality Engineering - Information Technology
- Production and Quality Engineering - Manufacturing Systems
- Engineering Cybernetics
- Technological subjects