Introduction to RoboticsLaajuus (5 ECTS)

Objective

This introductory course to Robotics is intended to explain the basic mathematical and physical theories of the subject.

Content

Course includes the following topics:
1. Rotation and translation of objects, Euler parameters, equivalent angle-axis representation of rotation.
2. Denavit-Hartenberg parameters of a robot, forward kinematics of a robot
3. Basic and angular Jacobian, Singularities of the movement.
4. Forces and torques in a robot.
5. Inertia tensor and its co-ordinate system, mass matrix and centrifugal and Coriolis and gravity forces.
6. Natural (passive) systems, PD controller, closed loop system, disturbance, steady-state error.

Qualifications

matrix algebra

Assessment criteria, approved/failed

Approved/Fail