Høst 2021

INE-3601 Robotics in Manufacturing Systems - 5 stp

The course is administrated by

Institutt for industriell teknologi

Type of course

The course can be taken as an single course.

Course overlap

STE6210 Robotics in Manufacturing Systems 5 stp

Course contents

Lecture week 1

Historical overview: expectations vs. potential of robotics
Application aspects of industrial robots: utility, safety, economics
Basic definitions, structure and types of industrial robots
Actuators, internal sensors, fundamental control concepts
Interfaces, external sensors, image processing
Programming approaches, integration into production systems
Robots in Industry 4.0, human-robot collaboration

Lecture week 2

Kinematic modeling of robot arms: coordinate transformations, modeling conventions
Solving forward and inverse kinematic problems
Inverse kinematic solution with wrist decomposition
Understanding inverse solution branches, singular configurations
Inverse kinematics solutions based on geometrical structures
Numerical solution methods, Jacobian matrix
Path interpolation, acceleration, deceleration

Application deadline

Applicants from countries within EU/EEA: June 1st for the autumn semester and December 1st for the spring semester.

Admission requirements

A relevant undergraduate Bachelor Engineering program with minimum 25 credits mathematics, 5 credits statistics, 7,5 credits physics

Application code: 9371

Elementary knowledge in topics related to machine- and electrical engineering. Basic programming skills.

Objective of the course

Introduction to the industrial robot. Design of robots and their industrial applications. Technical, economic, and organizational issues related to the implementation of robotics in advanced flexible manufacturing systems.

Knowledge (K):

Industrial robots: Structure, applications, role in industry
Robot kinematics, coordinate frames and Jacobian matrices
Control systems for motion control
Robot vision
Simulation of robots / robotized systems

Skills (S):

Programming of robot motion

General competence (GC):

Design and implementation of robot systems

Language of instruction

Teaching language: English

Examination language: English. Answers are also accepted in Norwegian.

Teaching methods

Lectures until noon and practical exercises in the afternoon. If distance learning is mandated by current circumstances, lectures will be held remotely, and instruction videos and datasets will be available for the exercises.

Assessment

6 exercises are included in the course, 4 practical exercises (robot programming) in lecture week 1, and 2 theory exercises (modeling, calculation) in lecture week 2.

2/3 of the exercises are mandatory. Exercises are performed individually or as project work by student teams. Students attending the practical exercises on-site can deliver exercise reports as a team. Students attending via distance learning are required to elaborate exercise reports individually.

3-hour written exam accounts for 100% of the grade in the course.

If circumstances do not allow on-site school exams, a digital home exam with the same types of tasks will be held (duration 3 hours + 30 minutes for delivery of answers).

The grading will be done by using an A-F grading scale, where F is a fail.