Credits: 5

Schedule: 12.09.2019 - 12.12.2019

Contact information for the course (applies in this implementation): 

Course staff

Lectures, exercises and KUKA LWR 4+ robot online programming exercise: Pekka Forsman, room 2559,

Exercises and robot offline programming exercise: Harri Aaltonen,

Teaching Period (valid 01.08.2018-31.07.2020): 

I-II (2019-2020)

Learning Outcomes (valid 01.08.2018-31.07.2020): 

After the course the student knows how to mathematically model and control (move) a robot manipulator mechanism. He/she has gained practical knowledge to program an industrial robot manipulator. The student also knows the basics of kinematic models of mobile robot platforms.

Content (valid 01.08.2018-31.07.2020): 

Spatial descriptions and transformations in three dimensions (3D). Direct (forward) and inverse manipulator kinematics. Description of manipulator velocity and forces by means of the Jacobian matrix. Basics of robot manipulator dynamics and control. Introduction to motion models of mobile robot platforms. Programming of industrial robots.

Details on the course content (applies in this implementation): 

You can find more details of the robotics course from the front page of the MyCourses pages of the course ELEC-C1320 and from the slides of the opening lecture of ELEC-C1320

Assessment Methods and Criteria (valid 01.08.2018-31.07.2020): 

Final exam, homework problems, robot online- and offline-programming exercises. The first part of the offline-programming exercise (preliminary assignment) is required to pass the course.

Elaboration of the evaluation criteria and methods, and acquainting students with the evaluation (applies in this implementation): 

The course grade is determined by the final exam (60%), solutions of the homework problems (20%), main assignment part of the robot offline programming exercise (20%) and robot online programming exercise (2% bonus).

If you have questions related to the grading of homework problem solutions or the exam please contact Pekka Forsman, Related to the course exam, a separate event will be organized, the time and date of which will be announced later.

Workload (valid 01.08.2018-31.07.2020): 

Lectures and exercise sessions, homework problems, robot programming exercises, preparation for the exam, final exam.

Contact hours: 35h
Independent study: 100h

Details on calculating the workload (applies in this implementation): 

Lectures, exercises and robot online programming exercise 49 h, independent working (homework problems, robot offline programming exercise, studying for the final exam) 80 h, final exam 3 h.

Study Material (valid 01.08.2018-31.07.2020): 

Peter Corke, Robotics,Vision and Control: Fundamental Algorithms in MATLAB, Springer Tracts in Advanced Robotics; Craig J.J, Introduction to Robotics: Mechanics and Control, Third Edition, Prentice Hall, 2005; lecture notes.

Details on the course materials (applies in this implementation): 

Peter Corke, Robotics,Vision and Control: Fundamental Algorithms in MATLAB, Second Edition (Springer Tracts in Advanced Robotics) 2017; Craig J.J, Introduction to Robotics: Mechanics and Control, Third Edition, Prentice Hall, 2005; lecture slides.

Course Homepage (valid 01.08.2018-31.07.2020):

Prerequisites (valid 01.08.2018-31.07.2020): 

Basic knowledge in automation and control engineering, vector and matrix calculus as well as Matlab-programming

Grading Scale (valid 01.08.2018-31.07.2020): 


Further Information (valid 01.08.2018-31.07.2020): 

Language class 3: English

Details on the schedule (applies in this implementation): 

Lectures on
Thursdays 16:15-18 o’clock in AS1

on Tuesdays 16-18 o’clock in AS1

Please check MyCourses of ELEC-D1320 for any exceptions on the schedule


Registration and further information