ROBOTIC CONTROL

Course Information
TitleΡΟΜΠΟΤΙΚΟΣ ΕΛΕΓΧΟΣ / ROBOTIC CONTROL
CodeNNA-08-08
FacultySciences
SchoolInformatics
Cycle / Level1st / Undergraduate
Teaching PeriodSpring
CoordinatorKonstantinos(constantine) Kotropoulos
CommonNo
StatusActive
Course ID600018373

Programme of Study: PPS-Tmīma Plīroforikīs (2019-sīmera)

Registered students: 4
OrientationAttendance TypeSemesterYearECTS
GENIKĪ KATEUTHYNSĪYPOCΗREŌTIKO KATA EPILOGĪ845

Class Information
Academic Year2019 – 2020
Class PeriodSpring
Faculty Instructors
Weekly Hours4
Class ID
600155583
Course Type 2011-2015
Knowledge Deepening / Consolidation
Mode of Delivery
  • Face to face
Digital Course Content
Erasmus
The course is also offered to exchange programme students.
Language of Instruction
  • Greek (Instruction, Examination)
  • English (Instruction, Examination)
Prerequisites
General Prerequisites
Prior exposition to linear algebra and signals and systems facilitates to grasp faster the concepts introduced.
Learning Outcomes
Cognitive: Το introduce you to basics of of modeling, design, planning, and control of robot systems. To get acquainted with relevant results from geometry, kinematics, statics, dynamics, and control. Skills: To appy the theory by programming in Matlab/Python.
General Competences
  • Apply knowledge in practice
  • Retrieve, analyse and synthesise data and information, with the use of necessary technologies
  • Adapt to new situations
  • Make decisions
  • Work autonomously
  • Generate new research ideas
  • Be critical and self-critical
  • Advance free, creative and causative thinking
Course Content (Syllabus)
Introduction. Rigid motions and homogeneous transformations. Forward and inverse kinematics. Velocity kinimatics - The manipulator of Jacobians. Path and trajectory planning. Dynamics. Perception. Control. Multivariate control. Vision-based control. Mobile robot localization (Probabilistic map-based localization. Simultaneous localization and mapping using Kalman filters).
Keywords
motion, kinematics, dynamics, perception, automatic control, localization, mapping
Educational Material Types
  • Notes
  • Slide presentations
  • Book
Use of Information and Communication Technologies
Use of ICT
  • Use of ICT in Course Teaching
  • Use of ICT in Communication with Students
Description
Computer-based applications in matlab, Rasberry-Pi, Arduino and python
Course Organization
ActivitiesWorkloadECTSIndividualTeamworkErasmus
Lectures60
Reading Assigment15
Tutorial30
Project27
Written assigments15
Exams3
Total150
Student Assessment
Description
a1) Lecture attendance and active participation in them is compulsory. Absence at most 30% of the total educational activities is tolerated. Failure to comply with this requirement implies immediate failure in the course. a2) Compulsory computer-based homeworks are assigned to students. The computer-based homeworks aim at developing and understanding robotic systems. The students are asked to develop applications using matlab, Rasberry-Pi, Arduino, and python. a3) Hourly mid-term and final progress exams are organized in the course. During these exams, the students are requested to provide short answers in 10-15 questions/problems covering the topics taught in the course. The mid-term exam is scheduled for the 8th week and the final progress exam will take place during the exam period. The final grading results by 40% from the computer-project assessment (including project presentation), and 60% from paper grading in the mid-term and final exams. The students pass the course, if their total grade is greater than or equal to five (5).
Student Assessment methods
  • Written Exam with Short Answer Questions (Formative, Summative)
  • Written Assignment (Formative, Summative)
  • Performance / Staging (Formative, Summative)
  • Written Exam with Problem Solving (Formative, Summative)
Bibliography
Course Bibliography (Eudoxus)
Ζωή Δουλγέρη, Ρομποτική. ΕΚΔΟΣΕΙΣ ΚΡΙΤΙΚΗ ΑΕ, 1η έκδοση 2007. ISBN: 978-960-218-502-5. Κωδικός 11768 Sicilianο, Sciavicco, Villiani,Oriolo, Ρομποτική. Εκδόσεις Φουντάς, 2013. ISBN : 9789603307488. Κωδικός 32997955 Sebastian Thrun, Wolfram Burgard, and Dieter Fox, Πιθανοτική Ρομποτική. Εκδόσεις Κλειδάριθμος, 2011. ISBN: 978-960-461-459-2. Κωδικός 12858802
Additional bibliography for study
M. W. Spong, Seth Hutchinson, and M. Vidyasagar, Robotic Modeling and Control, Wiley 2005. ISBN-13: 978-0471649908. J. Cicolani, Beginning Robotics with Raspberry Pi and Arduino: Using Python and OpenCV, Apress, 1st ed., 2018. D. B. Marghitu,, Mechanisms and Robots Analysis with Matlab, Springer 2009. ISBN 978-1-84800-390-3.
Last Update
05-10-2020