Robotics

Robotics as the part of bionics. Nature and applications of the bionics. Nature and construction of robots. Control functions of the robots. Mathematical modelling of manipulators. Model-based control of robots. Construction of manipulators: series and parallel link kinematics of manipulators, co-ordinate systems of the robots, position, velocity and acceleration vectors of robots, co-ordinate transformation, direct and reverse kinematical transformations, trajectory planning and motion control functions, transportation, transferring and orientation of work pieces. Robot’s drives: pneumatic, hydraulic and electric drives, drives structure and components, drive controllers, digital control of drives, digital regulators and filters, load and motor characteristics, flexibility, backlash, friction and compliance effects in drive control, drive motors, converters and sensors, energy consumption of drives. Control systems of robots: software for drive control, programming and teaching of robots, programming languages, robots in flexible manufacturing systems (FMS), higher levels in control hierarchy of robots, man-machine interface (MMI), fuzzy logic control of robots, shape and object identification and recognition, environment perception, intellectual control of robots. Etichal and social aspects of bionics and robotics.

NB! This course will take place in autumn semester 2024/2025 which starts on 2nd of September and ends 26th of January (you can find that information under Start date section). The real course start and end dates will be announced at the beginning of September at the latest.

A student shall acquire:

• knowledge of historical developments of robots as universal machines and automata and skills of their classification on the basis of design, application field or level of a control system;
• knowledge about the construction of robot manipulators and design and control principles of robot’s control systems; skills to describe mathematically kinematics tasks of robots;
• knowledge about components used in robotics and skills to select and apply needed components for the composition of a robot manipulator or a control system;
• skills to calculate the load of robot drives and to select and apply a motor or a control unit required in a robot drive;
• skills to program and use industrial robots for automation of production processes;
• knowledge about software packages of virtual robotics and skills to use them for the development of new robot systems.

Final assessment can consist of one test/assignment or several smaller assignments completed during the whole course. After declaring a course the student can re-sit the exam/assessment once. Assessment can be graded or non-graded. For specific information about the assessment process please get in touch with the contact person of this course. For specific information about grade transfer please contact your home university

1. basic knowledge of algebra, geometry, matrix calculations, and differential calculus;
2. basic knowledge of physics, at least mechanics, electricity, and optics;
3. computer proficiency at the level of a qualified end user and knowledge of office tools and computer graphics;
4. basic skill in programming, at least Basic language and operating systems.

NB! Lab works, 1 week in December (dates to be specified).

• T. Lehtla. Robotitehnika. TTÜ, Tallinn. 2008.
• Introduction to robotics: mechanics and control (3rd Ed.) / John J. Craig, Harlow: Pearson Education, c2014, 374 p

lectures, practices, exercises