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: 05.09.2024 - 05.12.2024
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):
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.
Assessment Methods and Criteria
valid for whole curriculum period:
Final exam, homework problems, robot offline-programming exercise. The second part of the offline-programming exercise (main assignment) is required to pass the course.
Workload
valid for whole curriculum period:
Lectures and exercise sessions, homework problems, robot programming exercise, preparation for the exam, final exam.
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:
Prerequisites
valid for whole curriculum period:
FURTHER INFORMATION
Further Information
valid for whole curriculum period:
Teaching Language: English
Teaching Period: 2024-2025 Autumn I - II
2025-2026 Autumn I - II