TEL200 Introduction to Robotics

Credits (ECTS):10

Course responsible:Alireza David Anisi

Campus / Online:Taught campus Ås

Teaching language:Engelsk, norsk

Course frequency:Annually

Nominal workload:Lectures, calculation exercises, lab. exercises and homework, approx. 250 hours.

Teaching and exam period:This course starts in Spring parallel. This course has teaching/evaluation in Spring parallel.

About this course

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.
Prerequisites
MAHT111 Calculus 1, 10 ECTS. MATH112Calculus 2, 10 ECTS. MATH113 Linear algebra and linear differential equations, 10 ECTS. INF120 Programming and data processing, 10 ECTS
Assessment method
All mandatory laboratory work and oral presentation must be approved in addition to written final report which will count 100% towards the final grade (A-E/F).

Portfolio Grading: Letter grades
Examiner scheme
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.
Mandatory activity
Mandatory work: laboratory work, oral presentation and written report.
Teaching hours
Lectures, 4 hours per week. Laboratory work.
Preferential right
Applied robotics
Admission requirements
Special requirements in Science