TPK4170 - Robotics


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 topics from geometry, kinematics, dynamics, and control systems:
- Configuration Space: Degrees of freedom, topology, parameterization, task space, and workspace.
- Rigid-Body Motions: Rotation matrices, exponential coordinates, homogeneous transformation matrices, screws, twists, and wrenches.
- Forward Kinematics: The product of exponentials (PoE) formula, the Denavit-Hartenberg convention.
- Velocity Kinematics and Statics: Jacobian, statics of open chains, singularity analysis, and manipulability.
- Inverse Kinematics: Analytic and numerical inverse kinematics.
- Dynamics of Open Chains: Forward and inverse dynamics, Euler-Lagrange and recursive Newton-Euler formulations.
- Trajectory Generation: Path, trajectory, and time-scaling.
- Robot Control: Motion and force control.

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.

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.

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

Learning methods and activities

Lectures, exercises, and a mini-project. 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

  • Theoretical and lab exercises
  • A miniproject

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

K. M. Lynch and F. C. Park, Modern Robotics: Mechanics, Planning, and Control. Cambridge University Press. 2017.

More on the course



Version: 1
Credits:  7.5 SP
Study level: Second degree level


Term no.: 1
Teaching semester:  AUTUMN 2020

No.of lecture hours: 4
Lab hours: 2
No.of specialization hours: 6

Language of instruction: English

Location: Trondheim

Subject area(s)
  • Manufacturing Systems
  • Production Engineering
  • Production and Quality Engineering - Information Technology
  • Production and Quality Engineering - Manufacturing Systems
  • Engineering Cybernetics
Contact information
Course coordinator: Lecturer(s):

Department with academic responsibility
Department of Mechanical and Industrial Engineering



Examination arrangement: Written examination

Term Status code Evaluation form Weighting Examination aids Date Time Digital exam Room *
Autumn ORD Written examination 100/100 D 2020-12-14 09:00
Room Building Number of candidates
  • * 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.

For more information regarding registration for examination and examination procedures, see "Innsida - Exams"

More on examinations at NTNU