Please note! Course description is confirmed for two academic years (1.8.2018-31.7.2020), which means that in general, e.g. Learning outcomes, assessment methods and key content stays unchanged. However, via course syllabus, it is possible to specify or change the course execution in each realization of the course, such as how the contact sessions are organized, assessment methods weighted or materials used.
LEARNING OUTCOMES
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.
Credits: 5
Schedule: 10.09.2020 - 10.12.2020
Teacher in charge (valid 01.08.2020-31.07.2022): Pekka Forsman, Ville Kyrki
Teacher in charge (applies in this implementation): Pekka Forsman, Ville Kyrki
Contact information for the course (valid 24.08.2020-21.12.2112):
Course staff:Lectures and exercises: Pekka Forsman, room 2559, pekka.forsman@aalto.fi
Robot offline programming exercise: Oliver Lagerroos, oliver.lagerroos@aalto.fi
CEFR level (applies in this implementation):
Language of instruction and studies (valid 01.08.2020-31.07.2022):
Teaching language: English
Languages of study attainment: English
CONTENT, ASSESSMENT AND WORKLOAD
Content
Valid 01.08.2020-31.07.2022:
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.
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 01.08.2020-31.07.2022:
Final exam, homework problems, robot online- and offline-programming exercises. The second part of the offline-programming exercise (main assignment) is required to pass the course.
Applies in this implementation:
The course grade is determined by the final exam (60%), solutions of the homework problems (20%) and the main assignment part of the robot offline programming exercise (20%).
If you have questions related to the grading of homework problem solutions or the final exam please contact Pekka Forsman, pekka.forsman@aalto.fi. After the course exam, a separate event will be organized to get more detailed information about the grading, the time and date of which will be announced later.
Workload
Valid 01.08.2020-31.07.2022:
Lectures and exercise sessions, homework problems, robot programming exercises, preparation for the exam, final exam.
Contact hours: 35h
Independent study: 100hApplies in this implementation:
Lectures and exercises 47 h, independent working (homework problems, robot offline programming exercise, studying for the final exam) 82 h, final exam 3 h.
DETAILS
Study Material
Valid 01.08.2020-31.07.2022:
Peter Corke, Robotics, Vision and Control, Fundamental Algorithms in MATLAB, Second Edition, Springer, 2017; Craig J.J, Introduction to Robotics: Mechanics and Control, Third Edition, Prentice Hall, 2005; lecture notes.
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.
Prerequisites
Valid 01.08.2020-31.07.2022:
Basic knowledge in automation and control engineering, vector and matrix calculus as well as Matlab-programming and Python language.
FURTHER INFORMATION
Details on the schedule
Applies in this implementation:
Zoom-lectures on Thursdays 16:15-18 o’clock
Zoom-exercises on Tuesdays 16-18 o’clock (not on 29th of September)
Please check MyCourses of ELEC-D1320 for any exceptions on the schedule
- Teacher: Forsman Pekka
- Teacher: Kyrki Ville