TPK4170 - Robotics


Examination arrangement

Examination arrangement: Portfolio Assessment
Grade: Letter grades

Evaluation Weighting Duration Grade deviation Examination aids
Project Assignment 50/100
Home exam 50/100 4 hours

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, a compulsory project, compulsory assignments.

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

Further on evaluation

Portfolio evaluation is the basis for the final grade in the subject. Parts of the portfolio are final exam in writing 50 % and project assignment 50 %. The result for each part is given in percentage units, while evaluation of the entire portfolio (the final grade) is given as a letter. To pass the course, all parts of the exam must be evaluated and given a passed grade level.

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. 

In the case that the student receives an F/Fail as a final grade after both ordinary and re-sit exam, then the student must retake the course in its entirety.

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 2021

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
  • Technological subjects
Contact information
Course coordinator:

Department with academic responsibility
Department of Mechanical and Industrial Engineering


Examination arrangement: Portfolio Assessment

Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
Autumn ORD Project Assignment 50/100
Room Building Number of candidates
Autumn ORD Home exam 50/100





Room Building Number of candidates
Summer UTS Project Assignment 50/100
Room Building Number of candidates
Summer UTS Home exam 50/100 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"

More on examinations at NTNU