Course - Robotics - TPK4170
TPK4170 - Robotics
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.
The course shall give knowledge about:
- Industrial robots
- 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 and compulsory exercises.
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.
- Theoretical exercises
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.
Recommended previous knowledge
TTK4105 Control Systems.
K. M. Lynch and F. C. Park, Modern Robotics: Mechanics, Planning, and Control. Cambridge University Press. 2017.
Credits: 7.5 SP
Study level: Second degree level
Term no.: 1
Teaching semester: AUTUMN 2023
Language of instruction: English
- Manufacturing Systems
- Production Engineering
- Production and Quality Engineering - Information Technology
- Production and Quality Engineering - Manufacturing Systems
- Engineering Cybernetics
- Technological subjects
Department with academic responsibility
Department of Mechanical and Industrial Engineering
Examination arrangement: School exam
- Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
- Autumn ORD School exam 100/100 3.PART , A 2023-11-27 15:00 INSPERA
Room Building Number of candidates SL111+SL210 Sluppenvegen 14 56
- Summer UTS School exam 100/100 3.PART , A INSPERA
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"