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Course syllabus - Industrial Robotics

Scope

7.5 credits

Course code

DVA400

Valid from

Autumn semester 2019

Education level

Second cycle

Progressive Specialisation

A1F (Second cycle, has second-cycle course/s as entry requirements).

Main area(s)

Computer Science, Product and Process Development

School

School of Innovation, Design and Engineering

Ratified

2019-01-24

Literature lists

Course literature is preliminary up to 8 weeks before course start. Course literature can be valid over several semesters.

    • Ratified date: 2019-10-15
    • Latest update: 2019-10-15

    Books

    Siciliano, Bruno

    Robotics : modelling, planning and control

    London : Springer, c2009. - xxiv, 632 p.

    ISBN: 978-1-84628-641-4 LIBRIS-ID: 11271317

    Corke, Peter.

    Robotics, Vision and Control : Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition

    2nd ed. 2017. : Cham : Springer International Publishing, 2017. - XXIX, 693 p. 402 illus., 335 illus. in color.

    ISBN: 978-3-319-54413-7 LIBRIS-ID: 20876062

    URL: Table of Contents / Abstracts

Objectives

The purpose of the course is to provide the required background to deeply understand the problems behind the design of an industrial robot. The course will provide analytical methods and guidelines to design and control most of the existing classes of industrial robots. Examples from the industrial field will be provided to make direct connection with the real applications on the market.

Learning outcomes

After completed the course, the student will be able to: 
1. Model an industrial manipulator as a serial kinematic chain 
2. Analyze the role of each joint within the robot motion capabilities 
3. Develop the robot dynamical model and simulate in 3D environments 
4. Perform motion planning in joint and operative space 
5. Develop basic and advanced control strategies in the cartesian and joint space

Course content

Industrial robots' typologies and applications, cartesian geometry and rotations representations, DH parameters, robot kinematics, differential kinematics, redundant manipulators, statics, forces-torques duality, trajectory generation in the joints and 6D space, forward and inverse dynamics, Lagrangian vs Newton-Euler, dynamic parameters identification, motion control.

Specific requirements

Vector algebra 7,5 credits, Linear algebra 7,5 credits, Mechanics II 7,5 credits and Control theory 7,5 credits. In addition, Swedish course B/Swedish course 3 and English course A/English course 6 are required. For courses given entirely in English exemption is made from the requirement in Swedish course B/Swedish course 3.

Examination

Exercise laboratory work (LAB1), 1.5 credits, marks 3, 4 or 5 (Learning outcomes 1,3,4) 
Project (PRO1), 1.5 credits, marks 3, 4 or 5 (Learning outcomes 1-5) 
Examination (TEN1), 4.5 credits, marks 3, 4 or 5 (Learning outcomes 1-5)

A student who has a certificate from MDU regarding a disability has the opportunity to submit a request for supportive measures during written examinations or other forms of examination, in accordance with the Rules and Regulations for Examinations at First-cycle and Second-cycle Level at Mälardalen University (2020/1655). It is the examiner who takes decisions on any supportive measures, based on what kind of certificate is issued, and in that case which measures are to be applied.

Suspicions of attempting to deceive in examinations (cheating) are reported to the Vice-Chancellor, in accordance with the Higher Education Ordinance, and are examined by the University’s Disciplinary Board. If the Disciplinary Board considers the student to be guilty of a disciplinary offence, the Board will take a decision on disciplinary action, which will be a warning or suspension.

Study guide

Grade

Grading scale: 5, 4, 3

Interim Regulations and Other Regulations

The course overlaps 7.5 credits with DVA414 Industrial Robotics.