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.
Choose semester and course offering
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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
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Examination and completion
If the course is discontinued, students may request to be examined during the following two academic years.
Grading scale
A, B, C, D, E, FX, F
Examination
- LAB1 - Laboratory assignments, 5,0 hp, betygsskala: A, B, C, D, E, FX, F
- TEN1 - Examination, 2,5 hp, betygsskala: 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
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.
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 DD2410Offered by
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)
Supplementary information
In this course, the EECS code of honor applies, see:
http://www.kth.se/en/eecs/utbildning/hederskodex