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.
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
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).
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.