DD2410 Introduction to Robotics 7.5 credits

Introduktion till robotik

This course is a very wide introduction to robotics. It will cover the mechanics of mobile robots and manipulators, robot hardware and software, and algorithms and methods for kinematics, control, navigation and planning. It serves to give general understanding of robotics as a field of study, and provide a foundation for further studies of the different included topics in greater depth in other, more specialized courses.

The course consists of lectures, lab assignments, and a wide selection of reading materials. The course is examined with assignments and a larger project (LAB1), and a written exam (TEN1). The final grade is determined by the performance on the practical assignments, LAB1, while the exam TEN1 is pass/fail.

Recommnded prerequisites are basic skills in linear algebra, multivariate calculus, control theory and programming (Python), equivalent to the KTH courses SF1624, SF1626, EL1110, and DD1343.
 

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Course information

Content and learning outcomes

Course contents *

Kinematics and dynamics for mobile and articulated robots. Description models applicable for robot system, such as Denavit-Hartenberg notation, homogeneous transforms etc
Sensors, actuators and other robot hardware
Algorithms for calculation of inverse kinematics, robot dynamics, trajectories and planning.
Software architectures for robot systems and simulators

Intended learning outcomes *

After completing the course with a passing grade the student should be able to:

  • Use basic theoretical tools from robotics to describe and calculate kinematics and dynamics for robot systems with several degrees of freedom
  • account for and apply algorithms to generate path plans
  • account for and apply algorithms for high level task switching,
  • account for and apply algorithms for mapping
  • account for different methods for exteroceptive sensors as well as navigation and localisation
  • use modern software architectures for development of robot applications
  • summarise the included subject areas in robotics
  • account for different types of hardware and software that are used in robot systems

In order to:

  • Be able to participate in development and implementation of simple robot systems
  • Obtain a good basis for continued studies in robotics and related subjects

Course Disposition

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Literature and preparations

Specific prerequisites *

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Recommended prerequisites

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Equipment

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Literature

Will be announced on the course web no later than 10 weeks before the start of the course.

Examination and completion

Grading scale *

A, B, C, D, E, FX, F

Examination *

  • LAB1 - Laboratory assignments, 5.0 credits, Grading scale: A, B, C, D, E, FX, F
  • TEN1 - Examination, 2.5 credits, Grading scale: P, F

Based on recommendation from KTH’s coordinator for disabilities, the examiner will decide how to adapt an examination for students with documented disability.

The examiner may apply another examination format when re-examining individual students.

The examiner decides, in consultation with KTH's coordinator for disabilities (Funka), on possible adapted examination for students with proven disabilities. The examiner may utilize another examination format when re-examining individual students.

Opportunity to complete the requirements via supplementary examination

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Opportunity to raise an approved grade via renewed examination

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Examiner

Christian Smith

Further information

Course web

Further information about the course can be found on the Course web at the link below. Information on the Course web will later be moved to this site.

Course web DD2410

Offered by

EECS/Intelligent Systems

Main field of study *

Computer Science and Engineering

Education cycle *

Second cycle

Add-on studies

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Contact

Christian Smith (ccs@kth.se)

Ethical approach *

  • All members of a group are responsible for the group's work.
  • In any assessment, every student shall honestly disclose any help received and sources used.
  • In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.

Supplementary information

In this course, the EECS code of honor applies, see:
http://www.kth.se/en/eecs/utbildning/hederskodex