Course - Modeling and Control of Robots - TTK4195
TTK4195 - Modeling and Control of Robots
About
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.
Recommended previous knowledge
TTK4105 Control Systems, TTK4150 Nonlinear Control Systems or equivalent.
Course materials
To be determined.
No
Version: 1
Credits:
7.5 SP
Study level: Second degree level
Term no.: 1
Teaching semester: SPRING 2021
No.of lecture hours: 4
Lab hours: 4
No.of specialization hours: 4
Language of instruction: English
Location: Trondheim
- Technological subjects
Department with academic responsibility
Department of Engineering Cybernetics
Phone:
Examination
Examination arrangement: Written examination
- Term Status code Evaluation form Weighting Examination aids Date Time Digital exam Room *
- Spring ORD Written examination 100/100 D
-
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"