Graduate study programme

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Basics of Robotics DRb2-05

ECTS 5 | P 30 | A 0 | L 30 | K 0 | ISVU 149789 190685 | Academic year: 2019./2020.

Course groups

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Course lecturers

FILKO DAMIR, Associate


Teach basic concepts of robotics - direct and inverse kinematics, dynamic robot manipulator model, path and trajectory planning, sensors and actuators in robotics, basics of mobile robot navigation. Provide an insight into the fields of robot applications. Teach students to understand and apply methods from the robotics field for robot manipulator and mobile robot control.

Conditions for enrollment

Requirements for the enrolment in the graduate university study programme

Course description

Introduction to robotics - basic terms, classification of robots and their applications. Direct and inverse kinematics of a robot manipulator. Denavit-Hartenberg convention. Robot manipulator trajectory planning. Dynamic model of a robot manipulator. Position and force control of a robot manipulator. Sensors and actuators in robotics. Basics of mobile robotics. Robot motion planning. Basics of mobile robot localisation. Description of robot pose uncertainty. Mobile robot localisation using Extended Kalman Filter (EKF) and Particle filter. Simultaneous Localisation and Mapping (SLAM).

Student requirements

Defined by the Student evaluation criteria of the Faculty of Electrical Engineering, Computer Science and Information Technology Osijek and paragraph 1.9

Monitoring of students

Defined by the Student evaluation criteria of the Faculty of Electrical Engineering, Computer Science and Information Technology Osijek and paragraph 1.9

Obligatory literature

1. 1 Kovačić Z.; Bogdan, S; Krajči, V. Osnove robotike Zagreb: Graphis, 2002.

Pretraži literaturu na:

Recommended additional literature

1. 1 J. J. Craig Introduction to Robotics: Mechanics and Control Pearson Prentice Hall, Upper Saddle River, New Jersey, 2005

2. 2 R. Siegwart, I. Nourbakhsh and D. Scaramuzza Autonomous Mobile Robots The MIT Press, Cambridge Massachusetts, 2011

3. 3 J. C. Latombe Robot Motion Planning Norwell, Massachusetts, USA: Kluwer Academic Publishers, 1991

4. 4 S. Thrun, W. Burgard, D. Fox Probabilistic Robotics Cambridge Massachusetts, 2006

5. 5 R. Cupec Osnove inteligentnih robotskih sustava, udžbenik u izradi Zavod za računalno inženjerstvo i automatiku, ETF Osijek, 2014.

Course assessment

Conducting university questionnaires on teachers (student-teacher relationship, transparency of assessment criteria, motivation for teaching, teaching clarity, etc.). Conducting Faculty surveys on courses (upon passing the exam, student self-assessment of the adopted learning outcomes and student workload in relation to the number of ECTS credits allocated to activities and courses as a whole).

Overview of course assesment

Learning outcomes
Upon successful completion of the course, students will be able to:

1. formulate kinetic models of robot manipulators based on their mechanical specifications using Denavit-Hartenberg method

2. write a computer programme function for robot tool positioning by solving the inverse kinematics problem for a 6-axis robot manipulator with rotational joints where the last three axes intersect in a single point

3. explain basic robot manipulator control methods

4. list the basic types of motors and sensors used in robotics and explain the basic applications of sensors in robotics

5. develop a basic computer programme for robot manipulator control

6. develop a basic computer programme for mobile robot control

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