Robotics

General

  • Course Code: 1912
  • Semester: 9th
  • Course Type: Specialization (SP)
  • Course Category: Compulsory Optional (CO-OP)
  • Scientific Field: Embedded Computation Systems (ECS)
  • Lectures: 4 hours/week
  • ECTS units: 6
  • Teching and exams language: Greek
  • The course is offered to Erasmus students
  • Recommended prerequisite courses: (1602) Embedded Systems
  • Coordinator: Kokkonis Georgios
  • Instructors: Tsiakmakis Kyriakos

Educational goals

The purpose of the course is to introduce basic notions of Robotics to the students and more specifically to provide the students with skills related to: the kinematic and dynamic analysis of robotic systems, the planning of motion trajectories, the design and application of robot control schemes, as well as the development of software for controlling a robot. After successfully attending the course, the student will be able to:

  • Understand basic notions of Robotics, as well as the role of robots to modern industry, science and technology
  • Analyze the kinematics and dynamics of robotic system
  • Solve the forward and inverse kinematics problem of robots with multiple joints
  • Mathematically model a robot as a dynamical system
  • Design the robot's trajectory for accomplishing a specific task and for a given geometry of the environment
  • Participate in the design and development of robotics systems, both in terms of hardware and software
  • Utilize software and programming languages for robots to synthesize programs for robot control
General Skills
  • Research, analysis and synthesis of technologies and information
  • Develop novel research ideas
  • Autonomous work
  • Group work / Collaboration
  • Innovation
  • Creativity

Course Contents

  • Introduction to Robotics
  • Translation and orientation of a rigid body
  • Kinematic analysis of a robotic system
  • Trajectory planning
  • Dynamic analysis of a robotic system
  • Robot motion control
  • Control for physical interaction of the robot with the environment/human
  • Programming tools for robot control

Teaching Methods - Evaluation

Teaching Method
  • Face to face theoretical lectures and exercises (presentations, conversation, problem solving).
Use of ICT means
  • Power point presentations
  • Communication via a platform enabling the remote teaching of the course
  • Utilization of a cloud repository for the distribution of the course-related material
Teaching Organization
Activity Semester workload
Lectures30
Writing and presenting compulsory individual work30
Writing and presenting compulsory teamwork60
Individual study and analysis of literature60
Total 180
Students evaluation

Ι. Written exams (WE) (max. grade: 10),

ΙΙ. Single-person or group project and presentation (additive, gives a maximum bonus of 3.5, only if the grade of WE is larger or equal to 5)

The evaluation criteria are notified to the students through the course web page and also during the lectures.

Recommended Bibliography

Recommended Bibliography through "Eudoxus"
  1. MAJA J. MATARIC, "Βασικές αρχές ρομποτικής", ΕΚΔΟΣΕΙΣ ΚΛΕΙΔΑΡΙΘΜΟΣ ΕΠΕ, ISBN: 978-960-461-354-0, Κωδικός Βιβλίου στον Εύδοξο: 21359.
  2. Δουλγέρη Ζωή, "Ρομποτική Κινηματική, δυναμική και έλεγχος αρθρωτών βραχιόνων" Εκδότης: Κριτική, ISBN 978-960-218-502-5, Κωδικός Βιβλίου στον Εύδοξο: 11768
Complementary greek bibliography
  1. John J. Craig, "Εισαγωγή στη ρομποτική" Εκδότης: Τζιόλα, ISBN: 9604181602
Complementary international bibliography
  1. John J. Craig, "Introduction to Robotics: Mechanics and Control 4th Edition". Pearson; 4th Edition (February 23, 2017), ISBN-10 : 0133489795
  2. Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. ``Robotics - Modelling, Planning and Control''. Springer-Verlag London, 2009. ISBN: 978-1-84628-641-4
  3. Christian Ott, ``Cartesian Impedance Control of Redundant and Flexible-Joint Robots''. Springer-Verlag Berlin Heidelberg, 2008. eBook ISBN: 978-3-540-69255-3
  4. Richard M. Murray, ``A Mathematical Introduction to Robotic Manipulation''. ISBN-10: 0849379814
  5. Jason M. O’Kane, ``A Gentle Introduction to ROS''. University of South Carolina, Department of Computer Science and Engineering, ISBN: 978-14-92143-23-9
Scientific journals
  1. IEEE Transactions on Robotics (IEEE TRO)
  2. IEEE Robotics and Automation Letters (RA-L)
  3. The International Journal of Robotics Research (IJRR)
  4. Robotics and Computer-Integrated Manufacturing (RCIM)
  5. Robotics and Autonomous Systems
  6. Autonomous Robots
  7. Robotica