Robotics

This course gives an introduction to robotics so that the student will have the competence to design and implement robotic systems. This is done by presenting topics from geometry, kinematics, dynamics, and control systems:

• Configuration Space: Degrees of freedom, topology, parameterization, task space, and workspace.
• Rigid-Body Motions: Rotation matrices, exponential coordinates, homogeneous transformation matrices, screws, twists, and wrenches.
• Forward Kinematics: The product of exponentials (PoE) formula, the Denavit-Hartenberg convention.
• Velocity Kinematics and Statics: Jacobian, statics of open chains, singularity analysis, and manipulability.
• Inverse Kinematics: Analytic and numerical inverse kinematics.
• Dynamics of Open Chains: Forward and inverse dynamics, Euler-Lagrange and recursive Newton-Euler formulations.
• Trajectory Generation: Path, trajectory, and time-scaling.
• Robot Control: Motion and force control.

The course shall give knowledge about:

• Industrial robots
• Robot kinematics, coordinate frames, and Jacobian matrices.
• Robot dynamics.
• Control systems for motion control and control of interaction forces.

The course shall develop skills in:

• The use of Python to compute the position and orientation of the robot end-effector from the robot joint variables and vice versa.
• Programming of robot motion.

The course shall give competence in:

• Design and implementation of robot systems.

Lectures and compulsory lab and theory exercises.

The lectures and exercises are in English when students who do not speak Norwegian take the course. If the teaching is in English, the Examination papers will be in English only.