Course code TEL200

TEL200 Introduction to robotics

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Norsk emneinformasjon

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Showing course contents for the educational year 2021 - 2022 .

Course responsible: Alireza David Anisi, Alireza David Anisi
Teachers: Lars Grimstad, Antonio Candea Leite, Antonio Candea Leite, Pål Johan From
ECTS credits: 10
Faculty: Faculty of Science and Technology
Teaching language: EN, NO
(NO=norsk, EN=Engelsk)
Teaching exam periods:
This course starts in Spring parallel. This course has teaching/evaluation in Spring parallel.
Course frequency: Annually
First time: 2020H
Preferential right:
Applied robotics
Course contents:

Introduction and history - serial and parallel manipulators. Mobile robots.

Rigid body motion - Rigid body transformations, homogeneous transformations. Rotations in the Euclidean space. Rotation matrices and Euler angles. Transformations in the Euclidean space. Differential kinematics, velocity representations and Jacobians.

Kinematics - forward and inverse kinematics. Manipulator Jacobian and workspaces. Joint space and operational space representations.

Redundant and parallel manipulators. Holonomic and non-holonomic systems.

Dynamics - inertial properties of rigid bodies. Dynamic equations of single body and multibody motion.

Navigation, localization and mapping (SLAM). Sensors and perception. Robot vision. Machine learning in robotics.

Learning outcome:
The students will get an introduction and peek into the magic world of Robotics and have acquired knowledge about, and skills in, design, analysis and the application of robots. This includes the combination av practical work and programming, with mathematical modelling of serial, parallel and mobile robots. The students should also have basic knowledge about, and skills in, applying the most used methods for robot vision and machine learning for different applications within robotics.
Learning activities:
The course consists of lectures, exercises, computer exercises (the use of programs in analysis and design of robots), simulations and laboratory work.
Teaching support:
The teacher is available for consultation in the lecturing period and supervises the practical exercises and is otherwise available by e-mail and direct contact.
Syllabus:
"Robotics, Vision and Control", Peter Corke, Springer, 2nd Edition (https://link.springer.com/book/10.1007/978-3-319-54413-7e-book) + lecture notes.
Prerequisites:
https://www.nmbu.no/emne/math111https://www.nmbu.no/emne/math111

https://www.nmbu.no/emne/math111MAHT111 Calculus 1, 10 ECTS. https://www.nmbu.no/emne/math112MATH112 Calculus 2, 10 ECTS. https://www.nmbu.no/emne/math113MATH113 Linear algebra and linear differential equations, 10 ECTS. https://www.nmbu.no/emne/inf120INF120 Programming and data processing, 10 ECTS

Recommended prerequisites:
Mandatory activity:
Mandatory work: written exercises, laboratory work.
Assessment:
All mandatory exercises and laboratory work must be approved in addition to written final report which will count 100% towards the final grade (A-E/F).
Nominal workload:
Lectures, calculation exercises, lab. exercises and homework, approx. 250 hours.
Entrance requirements:
Special requirements in Science
Type of course:
Lectures, 4 hours per week. Laboratory work.
Examiner:
The external and internal examiner jointly prepare the exam questions and the correction manual. The external examiner reviews the internal examiner's examination results by correcting a random sample of candidate's exams as a calibration according to the Department's guidelines for examination markings.
Examination details: Assignment: A - E / F