2601050
ROBOTICS AND TELEOPERATION,
ROBOTICS AND TELEOPERATION, 4 ov
Lecturer info
Albert Raneda
Lectures and exercises:
Lectures 28 h. Exercises 28 h.
Weekly teaching / period |
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Lectures (h): |
2+ |
2 |
- |
- |
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Exercises (h): |
2+ |
2 |
- |
- |
- |
Course objectives
Give an introduction to mathematics of robotics to describe the relations between the different parts of a robotic manipulator (actuators, joints, links, tools). Description of the motion of robotic manipulators (position, velocities and forces). Give basic ideas of teleoperation systems and understand the special requirements involved in teleoperation applications (delay effect, force reflection, uncertainty in the environment, human-machine interface).
Content of the course
The Robotic part of the course deals with description of objects in 3 dimensional space, forward and inverse kinematics of manipulators, velocities and forces of robot links and robot dynamics. Many examples and exercises are provided. The Teleoperation part deals with classification of teleoperation systems, applications of teleoperation, mechanical master-slave telemanipulators, human-computer interaction and force feedback control in teleoperation applications.
Requirements
Final examination and exercises.
Literature
Craig J.J., Introduction to Robotics Mechanics and Control. Sheridan T.B., Telerobotics, automation, and human supervisory control.
Notes
Lectures are given in English. Accepted for post-graduate students.
Schedules: http://www.iha.tut.fi/education/education_schedule.html