Course - Advanced Industrial Robotics - TPK4171
TPK4171 - Advanced Industrial Robotics
About
Examination arrangement
Examination arrangement: Home examination
Grade: Letter grades
Evaluation | Weighting | Duration | Grade deviation | Examination aids |
---|---|---|---|---|
Home examination | 100/100 | 4 hours | A |
Course content
Kinematics: Screw theory. Projective geometry in 2D and 3D. Points, lines and planes in Plücker coordinates. Determination of rotations in SO(3) and displacements in SE(3) from measurements by using optimization methods. Robot vision: Camera models and calibration. RANSAC. Homographies in 2D and 3D: Properties and computation. Stereo vision with calibrated and uncalibrated cameras. Auto calibration. Point clouds and iterative closest point.
Learning outcome
The course shall give knowledge about:
- Advanced kinematics for the description and numerical determination of geometric objects like points, lines and planes.
- Computation of rotation in SO(3) and displacements in SE(3) from measurements.
- Geometric methods for use in robotic vision.
The course shall develop skills in:
- Programming in MATLAB/Python to compute the position and orientation of geometric objects.
- Programming in MATLAB/Python of computational methods in 2D and 3D vision.
- Integration of CAD, offline simulation and programming of robots.
The course shall give competence in:
- Design and implementation of robotic vision for industrial applications.
Learning methods and activities
Lectures, exercises, laboratory 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.
Compulsory assignments
- Laboratory Exercises
- 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
TPK4170 Robotics or similar.
Course materials
To be announced at the start of the course
No
Version: 1
Credits:
7.5 SP
Study level: Second degree level
Term no.: 1
Teaching semester: SPRING 2022
Language of instruction: English
Location: Trondheim
- Product Design Engineering - Integrated Product Development
- Manufacturing Systems
- Production Engineering
- Production and Quality Engineering - Information Technology
- Production and Quality Engineering - Manufacturing Systems
- Technological subjects
Department with academic responsibility
Department of Mechanical and Industrial Engineering
Examination
Examination arrangement: Home examination
- Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
-
Spring
ORD
Home examination (1)
100/100
A
Release
2022-05-19Submission
2022-05-19
09:00
INSPERA
13:00 -
Room Building Number of candidates - Summer UTS Home examination 100/100 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.
- 1) Merk at eksamensform er endret som et smittevernstiltak i den pågående koronasituasjonen.
For more information regarding registration for examination and examination procedures, see "Innsida - Exams"