Course content

• Introduction to industrial robotics with an emphasis on robot manipulators.
• Definition of local coordinate frames and rotational matrices.
• Denavit-Hartenberg convention for deriving forward kinematics.
• Techniques for calculating workspace and singularities.
• Velocity kinematics and inverse kinematics.
• Interpolation of point-to-point movements using polynomials and trajectory tracking.
• Force control and independent joint control.
• Object detection and configuration with robot vision.
• Use of ROS (Robot Operating System) for programming and application of robot manipulators.

Learning outcome

Knowledge: The candidate can explain

• the structure and purpose of industrial robots
• the term kinematics in the context of robotics
• the purpose of and the general functionality of ROS
• the role of the trajectory planner in robotic operations
• the functioning and application of robot vision

Skills: The candidates can

• outline the design of industrial robot workstations.
• calculate position and speed of a general robot manipulator.
• solve the inverse kinematics problem for specific robot manipulators.
• Generate smooth movements for robot manipulators and implement them in software.
• use robot vision to estimate the position of objects.
• program simple grasping tasks for robot manipulators
• program robot manipulators using Robot Operating System (ROS)

General competence: The candidate wields a combination of theoretical and practical skills within the subject area, providing a base for solving practical problems in a professional setting - and for further education within the subject area.

Digitization: The course contributes by the candidate being able to use modern computer tools as an aid in all the mentioned skills

Learning methods and activities

Lectures, home exercises, laboratory assignments

Compulsory assignments

• Exercises and laboratory assignments

Specific conditions

Recommended previous knowledge

IMAT1001 Mathematical methods 1, IELET1002 Computer Engineering, and IELET2002 Control Engineering, or similar courses

Required previous knowledge

For applications for credentials, approval and incorporating of courses from previous semesters or other institutions' corresponding education programs, each application will be processed individually and the applicant should expect credit reductions for overlapping courses.

Course materials

Lecture notes. Exercises and laboratory exercises with solutions. Textbook:

• Spong, Robot Modeling and Control 2nd Edition

Credit reductions