Kursens beskrivning

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: 16.09.2021 - 16.12.2021

Teacher in charge (valid for whole curriculum period):

Teacher in charge (applies in this implementation): Pekka Forsman, Ville Kyrki

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

Lectures and exercises: Pekka Forsman, pekka.forsman@aalto.fi

Robot offline programming exercise: Oliver Lagerroos, oliver.lagerroos@aalto.fi

CEFR level (valid for whole curriculum period):

Language of instruction and studies (applies in this implementation):

Teaching language: English. Languages of study attainment: English

CONTENT, ASSESSMENT AND WORKLOAD

Content

• valid for whole curriculum period:

  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 for whole curriculum period:

  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.
  

Workload

• valid for whole curriculum period:

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

  Contact hours: 35h
  Independent study: 100h

• applies 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 for whole curriculum period:

  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.

Substitutes for Courses

• valid for whole curriculum period:

  Substitutes for Courses

Prerequisites

• valid for whole curriculum period:

  Prerequisites

FURTHER INFORMATION

Further Information

• valid for whole curriculum period:

  Teaching Period:

  2020-2021 Autumn I-II

  2021-2022 Autumn I-II

  Course Homepage: https://mycourses.aalto.fi/course/search.php?search=ELEC-D1320

  Registration for Courses: In the academic year 2021-2022, registration for courses will take place on Sisu (sisu.aalto.fi) instead of WebOodi.

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

Beskrivning