IHA-4506 Advanced Robotics, 5 cr
Additional information
Suitable for postgraduate studies.
The implementation will not be executed during the academic year 2017-2018.
Person responsible
Roel Pieters, Reza Ghabcheloo
Lessons
| Implementation | Period | Person responsible | Requirements |
| IHA-4506 2017-01 | - |
Reza Ghabcheloo |
Excercies and project work |
Learning Outcomes
Students will learn about wheeled robot: 1 Steering systems, maneuverability, Kinematic modeling (differential drive and articulated frame steering) 2 Kinematic based motion control: path following, pure pursuit, pose control, line following 3 Path smoothing and planning, 4 Obstacle avodance: potential field, velocity obstacles 5 Potential field for non-euclidean and rigib body robots 6 Polygon robots and obstacles and collision checking/avoidance 7 Decoupled trajectory planning and optimal control 7 Position based visual servoing 8 Force control, impedance control 9 Robot control system architecture: mobile robots and manipulators (10 Machine learning and robot motion control )
Content
| Content | Core content | Complementary knowledge | Specialist knowledge |
| 1. | Pose (position and heading) feedback and control: trajectory tracking, path following, and pose control | Robot kinematics and steering mechanisms | |
| 2. | Range sensor feedback and obstacle avoidance | ||
| 3. | Force feedback and compliance control | ||
| 4. | Robot control architectures |
Instructions for students on how to achieve the learning outcomes
Returned assignments and term projects
Assessment scale:
Numerical evaluation scale (0-5)
Prerequisites
| Course | Mandatory/Advisable | Description |
| ASE-1130 Automaatio | Mandatory | 1 |
| ASE-9406 Robot Manipulators: Modeling, Control and Programming | Mandatory | 2 |
1 . ASE-1258 Intorduction to control
2 . IHA 4306 Fundamental of Mobile Robots
Additional information about prerequisites
ROS,
Correspondence of content
There is no equivalence with any other courses