Curriculum: Syllabus/achievement requirements for IN3140/IN4140

  • All the lecture notes listed in the schedule. Both from the main courses and guest lecturers (including ROS and Evolutionary Robotics)
  • The following course book chapters, which were mentioned in the lectures:
    Note: The chapter numbering is from Spong 2005, chapter numbering might be different in Spong 2020. (Refer to the table below)
    • Chapter 1 – Introduction
    • Chapter 2 - Rigid Motions and Homogeneous Transformations
    • Chapter 3 - Forward and Inverse Kinematics
    • Chapter 4 - Velocity Kinematics - The Jacobian
    • Chapter 6 - Independent Joint Control
    • Chapter 7 - Dynamics
  • For IN4140 the following chapters are also mandatory syllabus and are left as self-study:
    • Chapter 5 - Path and Trajectory Planning
    • Chapter 9 - Force Control
    • Chapter 11 - Computer Vision
    • Chapter 12 - Vision-based Control

Topic

Robot Modelling and Control - 2005

Robot Modelling and Control - 2020

Introduction

Chapter 1

Chapter 1

Rigid Motions and Homogeneous Transformations

Chapter 2

Chapter 2

Forward Kinematic

Chapter 3

Chapter 3

Inverse Kinematic

Chapter 3

Chapter 5

Velocity Kinematics - The Jacobian

Chapter 4

Chapter 4

Independent Joint Control

Chapter 6

Chapter 8

Dynamics

Chapter 7

Chapter 6

For IN4140 (Master Students Only)

Path and Trajectory Planning

Chapter 5

Chapter 7

Force Control

Chapter 9

Chapter 10

Computer Vision

Chapter 11

computer vision

Vision-based Control

Chapter 12

Chapter 11

 

Main syllabus:

Mark W. Spong, Seth Hutchinson, M. Vidyasagar: Robot Modeling and Control, 2005. Wiley. ISBN: 978-0-471-64990-8.
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Mark W. Spong, Seth Hutchinson, M. Vidyasagar: Robot Modeling and Control, 2020. Wiley. ISBN: 978-1-119-52399-4.

Support Literature:

John Craig: Introduction to Robotics, Prentice Hall. ISBN: 0-13-123629-6.

Publisert 16. mai 2024 13:49 - Sist endret 16. mai 2024 13:49