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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)
Lecturer/Associate (for practice)
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
    1. V. Potkonjak, Robotics, University of Belgrade.
    2. B. Siciliano, O Khatib, Springer handbook of robotics, Springer-Verlag, Berlin.
    3. S. Y. Nof, Handbook of Industrial Robotics, publ. John Wiley.
    4. 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