Robotics 2

Објавено: June 28, 2022
1. Course Title Robotics 2
2. Code 4ФЕИТ01З018
3. Study program КСИАР
4. Organizer of the study program (unit, institute, department) Faculty of Electrical Engineering and Information Technologies
5. Degree (first, second, third cycle) First cycle
6. Academic year/semester IV/7 7. Number of ECTS credits 6
8. Lecturer D-r Gorjan Nadjinski
9. Course Prerequisites Taken course: Robotics 
10. Course Goals (acquired competencies): The students will be introduced to the concepts of probability robotics, and design and control of industrial manipulators. They will learn to design and implement practical robot control systems.
11. Course Syllabus: Introduction to probabilistic robotics. Alpha-beta filter. Bayes filter. Kalman filter. Extended Kalman filter. Unscented Kalman filter. Particle filter. object tracking and estimation using said filters. Introductions to basic concepts of robot control. Trajectory planning, joint space trajectories, working space trajectories. Manipulator control: feedback control. Decentralized control, independent joint control. Centralized control. Inverse dynamics. Force feedback control, manipulator-environment interaction.
12. Learning methods: Combined: presentations, homework, project assignments, practical laboratory work.
13. Total number of course hours 2 + 2 + 1 + 0
14. Distribution of course hours 180
15. Forms of teaching 15.1. Lectures-theoretical teaching 30
15.2. Exercises (laboratory, practice classes), seminars, teamwork 45
16. Other course activities 16.1. Projects, seminar papers 30
16.2. Individual tasks 30
16.3. Homework and self-learning 45
17. Grading 17.1. Exams 0
17.2. Seminar work/project (presentation: written and oral) 30
17.3. Activity and participation 0
17.4. Final exam 70
18. Grading criteria (points) up to 50 points 5 (five) (F)
from 51to 60 points 6 (six) (E)
from 61to 70 points 7 (seven) (D)
from 71to 80 points 8 (eight) (C)
from 81to 90 points 9 (nine) (B)
from 91to 100 points 10 (ten) (A)
19. Conditions for acquiring teacher’s signature and for taking final exam Completion of the laboratory work assignments.
20. Forms of assessment

Two partial written exams are envisaged during the semester (at the middle and the end of the semester, each with a duration of 120 minutes), as well as a mandatory project that the students are supposed to finish and present during the semester.

1. The students who have passed the partial exams and have successfully finished and presented the project, are considered to have passed the course. The presentation of the project is with duration not longer than 60 minutes. The final grade is formed based on the points from the partial exams and the points obtained from the project.

2. In the planned exam sessions a final written exam is taken (duration 120 minutes). The students who have passed the final written exam, and have finished and presented the mandatory project previously during the semester, are considered to have passed the course. The final grade is formed based on the points from the exams, and the points acquired from the project.
21. Language Macedonian and English
22. Method of monitoring of teaching quality Internal evaluation and polls
23. Literature
23.1. Required Literature
No. Author Title Publisher Year
1 Bruno Siciliano, Oussama Khatib Handbook of Robotics Springer 2016
2 Sebastian Thrun, Wolfram Burgard and Dieter Fox Probabilistic Robotics MIT Press 2006
3 Rafael Kelly, V. S. Davila, J. A. L. Perez Control of Robot Manipulators in Joint Space Springer 2005