Robotics

1.8.2026 - 31.7.2027

5 op

Paikan päällä

Aineopinnot

The course consists of lectures, simulation tutorials and an independent robotic system design project.

There are five topics covered in the course lectures .

Robotics introduction.

Under this topic, we will introduce what a robot is, morphology of robot, and the composition of a generic robotic system, where you learn the components of a robotic system.

Robot design.

Under this topic, we will introduce the concepts of DOF (degrees of freedom) of a robot and the concept of robot workspace, and how to compute the DOF and workspace, which are the most important two facts to consider when you start to design a robotic system. A introduction to end-effector (gripper) will also be introduced at the end.

Robotic coordinate system.

Under this topic, we will introduce the robot coordinate system. Homogenous transformation will be elaborated in detail, which are the base of the robotic kinematics computation. The construction of robot DH (Denavit-Hartenberg) parameters table will be demonstrated in great detail where the widely used 6DOF industrial robots will be taken as the study objects.

Robotic kinematics analysis.

Under this topic, we will introduce how the forward kinematics of a serial robot is computed based on the DH convention. The analysis of inverse kinematics of a 6DOF serial robot will be elaborated, and the computation will be presented using Matlab Codes. The analysis and computation of parallel structure robot will be also introduced.

Introduction of advanced robotic topics.

Under this topic, we will generally introduce the advanced robotics, including the trajectory planning, Jacobian analysis, the statics and dynamics.

Regarding the simulation tutorials , we will demonstrate how to build and simulate a robotic multibody model in the Simscape Multibody, where you could build and verify your own robot design.

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5 op

Koodi

BK10A6600

The course is designed for B.Sc. students, who have the background in mechanical or electrical engineering studies. The students should have the generic knowledge of mechatronic system design, understood the basics of mechanisms and machine theory. Regarding the mathematics, the students should have learnt the Linear Algebra and have the comprehensive understandings on vectors and linear transformation. The student should have the basic concepts and skills of programming, and we will use the Matlab for the computation and the MATLAB. Simulink for the robotic system simulation in the course.

In this course, the students will obtain the knowledge and gain the ability in the area as follows:

Understanding composition of a generic robotic system.
Comprehension of robotic coordinate system and homogenous transformation.
Ability to construct DH (Denavit-Hartenberg) parameters of a robotic system.
Ability to compute forward kinematics of robotic system.
Ability to analyze and compute inverse kinematics of robotic system.
Ability to design a robotic system and verify the design in simulation.

Through this course, you will learn the necessary knowledge of design and analysis of a generic robotic system, and you will also build up a solid knowledge ground for the further study of advanced topics in robotics, e.g., the trajectory planning, Jacobian analysis, statics, and dynamics analysis etc.

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The course is related to UN's Sustainable Development Goals (SDG):

Goal 4. Ensure inclusive and equitable quality education and promote lifelong learning opportunities for all

Goal 5. Achieve gender equality and empower all women and girls

Goal 8. Promote sustained, inclusive and sustainable economic growth, full and productive employment and decent work for all

Goal 9. Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation

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LUT-yliopisto

Tiedot ja toiminnallisuudet

Robotics

Sisältää

Lisätiedot ja ilmoittautuminen

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