Computer Science, Electrical Engineering

SME001 Robotics 6.0 ECTS credits

DENNA SIDA FINNS OCKSÅ PÅ SVENSKA

General information about studying at Luleå University
TIMEPERIOD:

LANGUAGE: English/Swedish

EXAMINER
Kalevi Hyyppä Univ lekt

PREREQUISITES


COURSE AIM
To provide an understanding of mathematical methods to describe industrial robots and how they are controlled.

CONTENTS
Kinematics (25 %) Mathematical description of the motions of the links in an industrial robot. Dynamics (25 %) Influence of inertia in the moving parts and the available motor power. Robot mechanism design. Trajectory generation and control (40 %) Trajectory planning due to obstacles and workspace limitations. Different methods for trajectory generation. Position control and force control. Control algorithms. Future trends (5 %) A look into the future given by invited speakers from the robot industry. Study tour (5 %) A couple of plants with robots are visited.

TEACHING


EXAMINATION
Written test with differentiated grades.
COURSE GRADE SCALE:

ITEMS AND CREDITS 
Required assignment                                         	0.6 ECTS
Laboratory work                                             	1.8 ECTS
Written exam                                                	3.6 ECTS

COURSE LITERATURE
Craig J.J.: Introduction to Robotics; Mechanics and Control, second edition, Addison Wesley, 1989, ISBN 0-201-09528-9.

REMARKS
Last modified 97-03-05
Further information: Kalevi Hyyppä
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