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SME001 Robotics 6.0 ECTS credits | |
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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/CREDITS | |
| Required assignment | 0.60ECTS |
| Laboratory work | 1.80ECTS |
| Written exam | 3.60ECTS |
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COURSE LITTERATURE Craig J.J.: Introduction to Robotics; Mechanics and Control, second edition, Addison Wesley, 1989, ISBN 0-201-09528-9. REMARKS Further information: Kalevi Hyyppä |
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