Robotics for IEM
Faculteit  Science and Engineering 
Jaar  2021/22 
Vakcode  WMIE00505 
Vaknaam  Robotics for IEM 
Niveau(s)  master 
Voertaal  Engels 
Periode  semester I a 
ECTS  5 
Rooster  rooster.rug.nl 
Uitgebreide vaknaam  Robotics for IEM  
Leerdoelen  The aim of this module is to introduce students to the principles of robotics. The main topics of interest covered in the textbook include: transformations in 3D, kinematics, inverse kinematics, dynamics and control. Later, issues related to mobile robots will be addressed, primarily sensing, estimation and workspace representation. Robot programming will be discussed. Specific learning objectives include: 1) Computation of spatial description; 2) Learning the iterative form of the forward and inverse kinematics; 3) Making dynamics analysis for forces acting on linkages; 4) Design of controller and analysing its stability. 

Omschrijving  The course materials are divided into five units, which are spatial descriptions, kinematics and inverse kinematics, dynamics, trajectory generations and stability analysis. The thread to link these five units together is the modeling, analysis and utilization of robotic arms. In the first lecture, I give out an information sheet, which clarifies the structure of the course as well as the pace of lectures so that the students can read the textbook following closely the course schedule. There are lectures, homework sessions and lab sessions. The lectures follow closely the textbook chapter by chapter. The difficulty of the material increases as the course develops. The students are expected to follow the lectures and raise their questions if they do not understand the discussion in class. There is one homework set after each lecture and the students should finish their homework before they attend the next lecture. There are homework sessions, in which the teaching assistant will go over the main points covered by the homework problems and give hints if necessary for the students to better understand the difficult steps in the homework. The students are encouraged to have group discussion about the course material and homework sessions through Nestor. In the labsessions, the students have to design a trajectory that a robotic arm has to follow and then control the arm with certain precision to follow the trajectory. The main topics of the course include:  Spatial Transformations  Forward Kinematics  Inverse Kinematics  Velocities, Static Forces, and Jacobians  Dynamics  Trajectory Planning  Linear Control  NonLinear Control  Force Control 

Uren per week  
Onderwijsvorm 
Hoorcollege (LC), Practisch werk (PRC), Werkcollege (T)
(Lectures, tutorial session, lab session) 

Toetsvorm 
Schriftelijk tentamen (WE), Verslag (R)
(Open book exam, lab report, lab task demonstration. Final mark: The overall course grade is a weighted average of final exam (80%) and lab report (20%) with additional possible bonus points for finishing faster the experimental task within the assigned time. The bonus points are meant for encouraging students to be well prepared before the lab session and work on the lab tasks efficiently.) 

Vaksoort  master  
Coördinator  prof. dr. ir. M. Cao  
Docent(en)  prof. dr. ir. M. Cao  
Verplichte literatuur 


Entreevoorwaarden  The course unit assumes prior knowledge acquired from control engineering, mechatronics, signal processing, digital and hybrid control. This course has a limited capacity.  IEM students can always enter the course.  Students from other programmes for which this is a *compulsory* course, can always enter the course. 

Opmerkingen  The course unit prepares students for analysis and control of smart systems, master thesis projects, in which the learning objectives attained are required as prior knowledge. This course was previously registered with course code TBROB12 

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