Robotics 1

Последна измена: November 25, 2022
1. Course Title Robotics 1
2. Code 4ФЕИТ01Л017
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 III/6 7. Number of ECTS credits 6
8. Lecturer D-r Gorjan Nadjinski
9. Course Prerequisites Passed: Mathematics 2
10. Course Goals (acquired competencies): Students will learn the fundamentals of robotics, they will be introduced to the basics of kinematics and dynamics of robot manipulators, and they will acquire the necessary skills to analyze and build simple robot systems.
11. Course Syllabus: 1. Introduction – definitions, history, applications, and classification of robots. Robot components, degrees of freedom, configuration, coordinate systems, workspace. 2. Robotic arm kinematics – space representations of a point, vector, coordinate system, rigid body, and movements. Direct kinematics, D-H parameters, robotic arm models. Inverse kinematics. 3. Differential movements and velocities – robotic arm Jacobian, differential movements and changes in coordinate systems. 4. Robotic arm dynamics – Lagrangian mechanics, dynamical model, static forces analysis, power and torque transformation between coordinate systems. 5. Trajectory planning – trajectory representation in joint space, trajectory planning in joint space, Cartesian space trajectories.
12. Learning methods: Combined way of learning: lectures, supported by presentations, homework and auditory exercises, as well as practical laboratory exercises.
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 20
17.2. Seminar work/project (presentation: written and oral) 0
17.3. Activity and participation 0
17.4. Final exam 80
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 successful completion of laboratory exercises
20. Forms of assessment Two partial written exams are scheduled during the semester (at the middle and at the end of the semester, each with a duration of 120 minutes), as well as tests, which are envisaged to be held on the regular classes, and a test for the laboratory exercises (scheduled after the end of the exercises).
1. Students who have passed the partial exams are considered to have passed the final written exam. A final oral exam can also be scheduled, with a duration of up to 60 minutes. The final grade is formed based on the points from the partial exams, tests and the final oral exam (if scheduled).
2. In the planned exam sessions, a final written exam is taken (duration 120 minutes). For students who have passed the final written exam, a final oral exam can also be scheduled (duration up to 60 minutes). The final grade is formed based on the points from the final written exam, the tests and the final oral exam (if scheduled).
21. Language Macedonian and English
22. Method of monitoring of teaching quality internal evaluation and surveys
23. Literature
23.1. Required Literature
No. Author Title Publisher Year
1 Saeed B. Niku Introduction to Robotics: Analysis, Control, Applications Wiley 2010
2 E. Lazarevska Basics of Robotics UKIM-Skopje 2020
3 E. Lazarevska Basics of Robotics – Solved Problems UKIM-Skopje 2016