13E054TRS - Robotic Systems Theory

Course specification
Course title		Robotic Systems Theory
Acronym		13E054TRS
Study programme		Electrical Engineering and Computing
Module		Signals and Systems
Type of study		bachelor academic studies
Lecturer (for classes)		professor PhD Kosta Jovanović
Lecturer/Associate (for practice)		asst. MA Nikola Knežević, electrical and computer engineer
Lecturer/Associate (for OTC)
ESPB		6.0	Status	elective
Condition
The goal		Introduces students to the theoretical foundations of robot science, design and work.
The outcome		Students will be able to work on robot design and control, as well as to further enhance their knowledge.
Contents
Contents of lectures		FUNDAMENTALS. KINEMATICS. Coordinate systems. Transformation matrices. Internal/external coordinates. Jacobeans. Redundancy. DYNAMICS. Direct/inverse problem. Contact tasks. Algorithms for dynamic modeling and simulation. End-effectors. CONTROL. Hierarchical scheme. Feedforward and Feedback. Intelligent control. APPLICATIONS. Humanoids. Industrial robots. Service robots. Medical robotic systems.
Contents of exercises		Exercises in virtual environments of laboratory for robotics and mechatronics - VLR. Seminar papers.
Literature
V. Potkonjak, Robotics, University of Belgrade. B. Siciliano, O Khatib, Springer handbook of robotics, Springer-Verlag, Berlin. S. Y. Nof, Handbook of Industrial Robotics, publ. John Wiley. specific reading periodicals
Number of hours per week during the semester/trimester/year
Lectures	Exercises	OTC	Study and Research	Other classes
3	2
Methods of teaching		Lectures, exercises, seminar papers, consultations
Knowledge score (maximum points 100)
Pre obligations		Points	Final exam	Points
Activites during lectures		0	Test paper	50
Practical lessons		0	Oral examination	0
Projects
Colloquia		0
Seminars		50