TEK4030 – Control of Manipulators and Mobile Robots
Schedule, syllabus and examination date
Course content
This course gives you a comprehensive understanding of control methods for robotic arms, known as?manipulators, both for?low-level control and planning of the robot's movements. You will also get detailed knowledge of mobile robots. This includes the characteristics of mobile robots and how to plan and follow trajectories. The focus of the course will be first to learn the theory and then employ this theory in practice, both in simulations and in the lab.
Learning outcome
After completing the course, you
- understand?advanced controllers for manipulators, such as multivariable control, force control, visual servoing, and tele-operation
- have knowledge of how to plan the robot's movements
- understand?the characteristics of mobile robots, i.e. kinematics and dynamics, and how to plan and follow trajectories
- can?use controllers on a physical robot
- can use theory of mobile robots to get a mobile robot to navigate around obstacles
- can use Robotic Operation System "ROS"?to control robots
Admission to the course
Students admitted at UiO must?apply for courses?in Studentweb. Students enrolled in other Master's Degree Programmes can, on application, be admitted to the course if this is cleared by their own study programme.
Nordic citizens and applicants residing in the Nordic countries may?apply to take this course as a single course student.
If you are not already enrolled as a student at UiO, please see our information about?admission requirements and procedures for international applicants.
Recommended previous knowledge
Knowledge from IN3140 – Introduction to Robotics, TEK4040 – Mathematical Modelling of Dynamic Systems?or similar is recommended.
For students without the courses IN1000 – Introduction to Object-oriented Programming or IN1900 – Introduction to Programming with Scientific Applications, MAT1110 – Calculus and Linear Algebra, as well as knowledge of Laplace transformation, this course will require more work.
Teaching
The teaching?includes two hours of lectures and one hour exercise/lab each week throughout the semester.
This course has three mandatory assignments during the semester, where some include?lab work. All three mandatory assignments must be approved before you can sit the final exam.
Examination
- A final written exam counts 100% towards the final grade.
In case of less students, the final exam may be oral.
This course has three mandatory assignments, which must be approved before you can sit the final exam.
When writing your exercises make sure to familiarize yourself with the rules for use of sources and citations. Breach of these rules may lead to suspicion of attempted cheating.
Examination support material
No examination support material is allowed.
Language of examination
Courses taught in English will only offer the exam paper in English. You may write your examination paper in Norwegian, Swedish, Danish or English.
Grading scale
Grades are awarded on a scale from A to F, where A is the best grade and F is a fail. Read more about the grading system.
Resit an examination
Students who can document a valid reason for absence from the regular examination are offered a postponed examination at the beginning of the next semester.
Re-scheduled examinations are not offered to students who withdraw during, or did not pass, the original examination.
More about examinations at UiO
- Use of sources and citations
- Special exam arrangements due to individual needs
- Withdrawal from an exam
- Illness at exams / postponed exams
- Explanation of grades and appeals
- Resitting an exam
- Cheating/attempted cheating
You will find further guides and resources at the web page on examinations at UiO.