Introduction to Robotics (5 ECTS)

Learning outcomes

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.

Prerequisites

matrix algebra

Teaching methods

The course consists of three parts: There are lectures on videos, computational exercises, and automatic nonstop exams.

1) The lectures on videos by Stanford professor Oussama Khatib can be seen at any time in internet.
2) The computational exercises (1,2,3,4,5,6) are executed independently by the students themselves following the written instructions in the course material. The exercises help the students to pass the automated non-stop exams.
3) One fourth of the maximum points is needed for passing an exam. The exams can be taken at any time in the internet and retaken any number of times. The best result will be the final number of points for the exam in question. There are 6 different computational exams and all of them must be passed separately to pass the course. The exams end at the last day of the course realisation. There are no other requirements for passing the course.

Location and time

This non-stop course and the exams belonging to it, are carried out by the students in the Internet at any time during the time span of the course.

Learning materials and recommended literature

The course consists of three parts: There are lectures on videos, computational exercises, and automatic nonstop exams.

1) The lectures on videos by Stanford professor Oussama Khatib can be seen at any time in internet.
2) The computational exercises (1,2,3,4,5,6) are executed independently by the students themselves following the written instructions in the course material. The exercises help the students to pass the automated non-stop exams.
3) One fourth of the maximum points is needed for passing an exam. The exams can be taken at any time in the internet and retaken any number of times. The best result will be the final number of points for the exam in question. There are 6 different computational exams and all of them must be passed separately to pass the course. The exams end at the last day of the course realisation. There are no other requirements for passing the course.

Alternative completion methods of implementation

N/A

Internship and working life connections

N/A

Exam dates and retake possibilities

Up to Student her-/himself.

One fourth of the maximum points is needed for passing an exam. The exams can be taken at any time in the internet and retaken any number of times. The best result will be the final number of points for the exam in question.

There are 6 different computational exams and all of them must be passed separately to pass the course. The exams end at the last day of the course realisation.

International connections

N/A

Student workload

Up to Student her-/himself.

Content scheduling

Up to Student her-/himself.

Further information for students

Course is not available anymoore.

Assessment methods and criteria

The computational exercises (1,2,3,4,5,6) are executed independently by the students themselves following the written instructions in the course material. The exercises help the students to pass the automated non-stop exams.

One fourth of the maximum points is needed for passing an exam. The exams can be taken at any time in the internet and retaken any number of times. The best result will be the final number of points for the exam in question. There are 6 different computational exams and all of them must be passed separately to pass the course. The exams end at the last day of the course.

Evaluation scale

Hyväksytty/Hylätty

Assessment criteria, approved/failed

Approved/Fail