TTK4195 - Modeling and Control of Robots


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

An overview over different types of manipulators.
Kinematics: description of position and orientation of rigid bodies, the Denavit-Hartenberg convention, forward and inverse kinematics, the velocity transformations, singularities, kinematics for vehicles.
Dynamics: dynamics of rigid bodies, reference frames in relative motion, equations of motion for manipulators and vehicles in closed and recursive form, elasticity.
Motion Planning: point-to-point motions, interpolation and path primitives, localization of robots, mapping a robot environment.
Control: feedback linearization, passivity based controllers, position and force control.

Learning outcome

The course gives the foundation for developing robotic systems and designing manipulators. It provides comprehensive discussion of problems of service robotics and tasks encountered in outdoor environment. Applications are industrial robots, remotely operated manipulators for space and under water operations, service robots in unstructured environment.

Learning methods and activities

Lectures and problem sets. Invited guest lecturers will lecture specific topics.

Compulsory assignments

  • Exercises

Further on evaluation

If there is a re-sit examination, the examination form may change 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

To be determined.


Detailed timetable


Examination arrangement: Written examination

Term Statuskode Evaluation form Weighting Examination aids Date Time Room *
Spring ORD Written examination 100/100 D
  • * 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.