Course content

Definition of industrial robots, functional principles and application areas. Classification of industrial robots, mechanical structures and associated functional properties. Control principles and the control systems structure, control system properties. Mathematical description of the kinematic structure, solutions to the inverse kinematic problem. Automatic handling systems with adaptive functions, machine vision, artificial intelligence.

Learning outcome

To gain knowledge about the basic properties and structures of industrial robots and the structure of their control systems and support functions like electronic vision and force control.
To build skills in development of central control system components for industrial robots.
To develop competence in the application of robots in industrial production processes.

Learning methods and activities

Lectures/colloquia and four larger compulsory exercises. Parts of the exercise work includes practical robot programming. If needed the lectures will be given in English.

Compulsory assignments

• Exercises

Recommended previous knowledge

Knowledge equivalent to the themes of the courses TPK4145 Manufacturing Systems, TPK4125 Digital Control of Mechatronic Systems, and TTK4105 Control Engineering.

Course materials

Karel Capek: R.U.R., New York, 1923; T. K. Lien: Banestyring for universelle handteringsautomater, NTH, Trondheim, 1980; R. J. Schilling: Fundamentals of robotics - Analysis and Control, Englewood Cliffs, NJ, 1990

Credit reductions