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SME001 Robotics 6.0 ECTS credits | |
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TIMEPERIOD: Quarter III LANGUAGE:English/Swedish EXAMINER Kalevi Hyyppä Univ lekt PREREQUISITES SMR017 Automatic Control 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 LITERATURE Craig J.J.: Introduction to Robotics; Mechanics and Control, second edition, Addison Wesley, 1989, ISBN 0-201-09528-9. REMARKS Further information: International Office |
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