TPK4170 - Robotics

About

Examination arrangement

Examination arrangement: Written examination
Grade: Letters

Evaluation form Weighting Duration Examination aids Grade deviation
Written examination 100/100 4 hours D

Course content

This course gives an introduction to robotics so that the student will have the competence to design and implement robotic systems. This is done by presenting relevant topics from geometry, kinematics, dynamics, control systems, and computer vision. Python programming is an important part of the course to ensure that the student acquires skills in kinematics and computer vision. Systems for robot control using computer vision and contact force sensors will be presented.

Learning outcome

The course shall give knowledge about:
- Industrial robots: Structure and applications.
- Robot kinematics, coordinate frames, and Jacobian matrices.
- Robot dynamics.
- Control systems for motion control and control of interaction forces.
- Computer vision.

The course shall develop skills in:
- The use of Python to compute the position and orientation of the robot end-effector from the robot joint variables and vice versa.
- Programming of robot motion.
- Simulation of robots with 3D graphics.
- Use and implementation of computer vision.

The course shall give competence in:
- Design and implementation of robot systems.

Learning methods and activities

Lectures, exercises, laboratory exercises on programming of robot operations and computer simulation of robot operations. The lectures and exercises are in English when students who do not speak Norwegian take the course. If the teaching is given in English the Examination papers will be given in English only. Students are free to choose Norwegian or English for written assessments.

Compulsory assignments

  • Teori- og laboratorieøvinger
  • Miniprosjekt

Further on evaluation

Mandatory work from previous semester can be accepted by the Department by re-take of an examination if there haven't been any significant changes later.

If there is a re-sit examination, the examination form may be changed from written to oral.

Specific conditions

Exam registration requires that class registration is approved in the same semester. Compulsory activities from previous semester may be approved by the department.

Course materials

B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics. Modeling, planning and control. Springer 2010.
P. Corke. Robotics, Vision and Control. Springer Verlag, 2011.

Examination

Examination arrangement: Written examination

Term Statuskode Evaluation form Weighting Examination aids Date Time Room *
Autumn ORD Written examination 100/100 D 2019-11-27 15:00
  • * The location (room) for a written examination is published 3 days before examination date.
If more than one room is listed, you will find your room at Studentweb.