TTK4195 - Modeling and Control of Robots
About
Examination arrangement
Examination arrangement: Written examination
Grade:
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
- Øvinger
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.
Timetable
Detailed timetableExamination
Examination arrangement: Written examination
Term | Statuskode | Evaluation form | Weighting | Examination aids | Date | Time | Room * |
---|---|---|---|---|---|---|---|
Summer | UTS | Written examination | 100/100 | D | |||
Spring | ORD | Written examination | 100/100 | D | 2019-05-13 | 15:00 |
- * The location (room) for a written examination is published 3 days before examination date.