TTK4195 - Modeling and Control of Robots


Examination arrangement

Examination arrangement: School exam
Grade: Letter grades

Evaluation Weighting Duration Grade deviation Examination aids
School exam 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, modeling 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.

Course materials

To be determined.

More on the course

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


Term no.: 1
Teaching semester:  SPRING 2024

Language of instruction: English

Location: Trondheim

Subject area(s)
  • Technological subjects
Contact information
Course coordinator:

Department with academic responsibility
Department of Engineering Cybernetics


Examination arrangement: School exam

Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
Spring ORD School exam 100/100 D 2024-05-06 15:00 INSPERA
Room Building Number of candidates
SL520 Sluppenvegen 14 3
SL311 brun sone Sluppenvegen 14 22
Summer UTS School exam 100/100 D 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"

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