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Course Catalog 2011-2012
IHA-3506 Robotics and Teleoperation, 7 cr |
Additional information
Prerequisites for this course is the subject related studies of hydraulics and machine automation.
Suitable for postgraduate studies
Person responsible
Jouni Mattila
Lessons
| Study type | P1 | P2 | P3 | P4 | Summer | Implementations | Lecture times and places |
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Requirements
Participation in the seminar work and passing the final exam.
Completion parts must belong to the same implementation
Principles and baselines related to teaching and learning
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Learning outcomes
After completed this course the student has knowledge on the mathematics of robotics which describe the relations between the different parts of a robotic manipulator (actuators, joints, links, tools). The student can give a description of the motion of robotic manipulators (position, velocities and forces). The student understands the basic ideas of teleoperation systems and the special requirements involved in teleoperation applications (delay effect, force reflection, uncertainty in the environment, human-machine interface).
Content
| Content | Core content | Complementary knowledge | Specialist knowledge |
| 1. | 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. | ||
| 2. | Many examples and exercises are provided. | ||
| 3. | 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. |
Study material
| Type | Name | Author | ISBN | URL | Edition, availability, ... | Examination material | Language |
| Book | Introduction to Robotics Mechanics and Control | J. Craig | 0201543613 | English | |||
| Book | Modelling and Control of Robot Manipulators | L. Sciavicco and B. Siciliano | 1852332212 | English | |||
| Book | Telerobotics, Automation, and Human Supervisory Control | Thomas B. Sheridan | 0262193167 | English |
Prerequisite relations (Requires logging in to POP)
Correspondence of content
| Course | Corresponds course | Description |
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More precise information per implementation
| Implementation | Description | Methods of instruction | Implementation |
Documents
Problems 05.pdf Sample Exam.pdf Lecture 01.pdf Lecture 02.pdf Lecture 03.pdf Problems 04.pdf Lecture 05.pdf Lecture 06.pdf Problems 02.pdf Problems 03.pdf Lecture 04.pdf Solution 01.mw PUMA 560.mw Yasukawa Motoman L-3.mw Lecture 07.pdf Lecture 08.pdf Lecture 11.pdf Lecture 12.pdf Lecture 13.pdf Teleoperation_Notes_2010.pdf robotlib.zip Lecture 09.pdf Lecture 10.pdf Solution 01.pdf Solution 02.pdf Solution 03.pdf Solution 04.pdf Solution 05.pdf Exam Results 30.01.2012.pdf Exam Results 12.03.2012.pdf Teleoperation Presentation List.pdf Exam Results 15.12.2011.pdf