Mechatronics and Robotics

The course provides an introduction to mechatronics and robotics and includes a selection of the following topics:

• Structure of robots and robot cells
• Rotations and rigid body motion
• Kinematics, dynamics, and robot motion
• Joint and force control
• Modeling and control of industrial robots
• Programming and interfaces for physical and simulated systems
• Robot simulation
• End-effectors and end-of-arm tooling
• Sensors and sensor fusion in robotic applications
• Introduction to machine vision, with emphasis on robotics-relevant applications
• Basic introduction to ROS2 (Robot Operating System 2)
• Industry 4.0 and Design for Manufacturing

More information about the curriculum will be made available at the start of the semester.

The candidate should be able to:

• Possess broad knowledge of implementation in ROS2, including nodes, components, topics, services, actions, and URDF.
• Parameterize ROS2 projects using parameters, configuration files, and launch files.
• Use established frameworks and libraries in ROS2 such as RViz2, TF2, and MoveIt.
• Program robot manipulators in ROS2.
• Communicate a solution to an industrial problem where the solution involves mechatronic and/or robotic systems.
• Discuss different application areas for robots, as well as potential advantages and challenges related to their implementation.
• Apply design and engineering principles for mechatronic and robotic systems under realistic conditions.
• Analyze a solution involving a mechatronic and/or robotic system.
• Calculate position and velocity for a general robot manipulator.
• Solve the inverse kinematics problem for specific robot manipulators.
• Generate smooth motions for robot manipulators and implement them in software.
• Calculate and program simple grasping tasks for robot manipulators.
• Explain and demonstrate the use of fundamental concepts in robotics and machine vision, such as kinematics, dynamics, path planning, rigid-body motion, grippers, sensors, sensor fusion, pinhole model, projective geometry, image processing, and ROS2.
• Use machine vision to estimate the position of objects.
• Program a robot to perform actions using machine vision.
• Design, build, and test simple mechatronic systems, including software, control systems, sensors, actuators, communication protocols, and hardware.
• Take responsibility for projects involving industrial robot arms or mobile robots.
• Develop large-scale ROS2 projects that integrate multiple packages.
• Present mechatronic/robotic systems through documentation of code and written reports.

Learning activities generally include a mix of lectures, tutorials and practical lab/project work. A constructivist approach for learning is endorsed, with focus on problem solving and practical application of theory.