{"id":null,"code":"DTEK2101","name":{"valueFi":"Introduction to Robotic Manipulation","valueEn":"Introduction to Robotic Manipulation","valueSv":"Introduction to Robotic Manipulation"},"credits":5.0,"minCredits":5,"maxCredits":5,"tags":[],"createdAt":1790534323196,"contentList":[{"title":{"valueFi":"Osaamistavoitteet","valueEn":"Learning outcomes","valueSv":""},"content":{"valueFi":"On completion of the course, the student will be able to:\r\n* represent rigid-body position and orientation using rotation matrices, homogeneous transformations, and the groups SO(3) and SE(3);\r\n* derive the forward kinematics of a serial manipulator using DH parameters or the product-ofexponentials formula;\r\n* solve the inverse kinematics problem using both analytical and numerical methods;\r\n* compute the manipulator Jacobian and analyze velocity relationships, singularities, and\r\nmanipulability;\r\n* generate joint-space and task-space trajectories for robot motion;\r\n* derive the equations of motion of a manipulator using the Lagrangian or Newton-Euler\r\nformulation;\r\n* design and implement basic robot controllers (PID, computed torque) and apply sampling based\r\nmotion planning (RRT, PRM);\r\n* implement inverse-kinematics control on a physical robot arm.","valueEn":"On completion of the course, the student will be able to:\r\n* represent rigid-body position and orientation using rotation matrices, homogeneous transformations, and the groups SO(3) and SE(3);\r\n* derive the forward kinematics of a serial manipulator using DH parameters or the product-ofexponentials formula;\r\n* solve the inverse kinematics problem using both analytical and numerical methods;\r\n* compute the manipulator Jacobian and analyze velocity relationships, singularities, and\r\nmanipulability;\r\n* generate joint-space and task-space trajectories for robot motion;\r\n* derive the equations of motion of a manipulator using the Lagrangian or Newton-Euler\r\nformulation;\r\n* design and implement basic robot controllers (PID, computed torque) and apply sampling based\r\nmotion planning (RRT, PRM);\r\n* implement inverse-kinematics control on a physical robot arm.","valueSv":"On completion of the course, the student will be able to:\r\n* represent rigid-body position and orientation using rotation matrices, homogeneous transformations, and the groups SO(3) and SE(3);\r\n* derive the forward kinematics of a serial manipulator using DH parameters or the product-ofexponentials formula;\r\n* solve the inverse kinematics problem using both analytical and numerical methods;\r\n* compute the manipulator Jacobian and analyze velocity relationships, singularities, and\r\nmanipulability;\r\n* generate joint-space and task-space trajectories for robot motion;\r\n* derive the equations of motion of a manipulator using the Lagrangian or Newton-Euler\r\nformulation;\r\n* design and implement basic robot controllers (PID, computed torque) and apply sampling based\r\nmotion planning (RRT, PRM);\r\n* implement inverse-kinematics control on a physical robot arm."}},{"title":{"valueFi":"Sisältö","valueEn":"Content","valueSv":""},"content":{"valueFi":"The course covers the mathematical and conceptual foundations of robotic manipulation: rigid-body motions and configuration space; forward and inverse kinematics; velocity kinematics and the manipulator Jacobian; trajectory generation; statics and force control; rigid-body dynamics; motion planning; and robot control. It closes with an overview of sensing and perception and of modern trends (robot learning, foundation models for robotics, soft robotics). Theory is paired with weekly exercise sessions that combine pen-and-paper problems, simulation, and hands-on work with the SO-101 robot arm, and the course includes a project work.","valueEn":"The course covers the mathematical and conceptual foundations of robotic manipulation: rigid-body motions and configuration space; forward and inverse kinematics; velocity kinematics and the manipulator Jacobian; trajectory generation; statics and force control; rigid-body dynamics; motion planning; and robot control. It closes with an overview of sensing and perception and of modern trends (robot learning, foundation models for robotics, soft robotics). Theory is paired with weekly exercise sessions that combine pen-and-paper problems, simulation, and hands-on work with the SO-101 robot arm, and the course includes a project work.","valueSv":"The course covers the mathematical and conceptual foundations of robotic manipulation: rigid-body motions and configuration space; forward and inverse kinematics; velocity kinematics and the manipulator Jacobian; trajectory generation; statics and force control; rigid-body dynamics; motion planning; and robot control. It closes with an overview of sensing and perception and of modern trends (robot learning, foundation models for robotics, soft robotics). Theory is paired with weekly exercise sessions that combine pen-and-paper problems, simulation, and hands-on work with the SO-101 robot arm, and the course includes a project work."}},{"title":{"valueFi":"Suoritustavat","valueEn":"Study methods","valueSv":""},"content":{"valueFi":"* Five homework assignments combining pen-and-paper derivations with Python implementation.\r\n* Tick-style exercise sessions held biweekly: students mark the problems they have completed, and for each problem one student is then chosen at random to present the solution; all students who marked a problem as completed receive its points.\r\n* In the alternating weeks, the exercise session is a help session where students can get support with the assignments.\r\n* One project work.","valueEn":"* Five homework assignments combining pen-and-paper derivations with Python implementation.\r\n* Tick-style exercise sessions held biweekly: students mark the problems they have completed, and for each problem one student is then chosen at random to present the solution; all students who marked a problem as completed receive its points.\r\n* In the alternating weeks, the exercise session is a help session where students can get support with the assignments.\r\n* One project work.","valueSv":""}},{"title":{"valueFi":"Toteutustavat","valueEn":"Course unit methods","valueSv":""},"content":{"valueFi":"* Lectures: 28 h (14 x 2 h)\r\n* Exercise sessions (pen-and-paper, simulation, and work on the real SO-101 arm): 28 h (14 x 2 h)\r\n* Independent study, homework, and project work: ~80 h\r\n\r\nTotal student workload ~135 h","valueEn":"* Lectures: 28 h (14 x 2 h)\r\n* Exercise sessions (pen-and-paper, simulation, and work on the real SO-101 arm): 28 h (14 x 2 h)\r\n* Independent study, homework, and project work: ~80 h\r\n\r\nTotal student workload ~135 h","valueSv":""}},{"title":{"valueFi":"Oppimateriaalit","valueEn":"Learning material","valueSv":""},"content":{"valueFi":"","valueEn":"","valueSv":""}},{"title":{"valueFi":"Lisätiedot","valueEn":"Further information","valueSv":""},"content":{"valueFi":"","valueEn":"","valueSv":""}},{"title":{"valueFi":"Kurssikirjallisuus","valueEn":"Literature","valueSv":""},"content":{"valueFi":"","valueEn":"","valueSv":""}},{"title":{"valueFi":"Esitietovaatimukset","valueEn":"Qualifications","valueSv":""},"content":{"valueFi":"","valueEn":"","valueSv":""}},{"title":{"valueFi":"Arviointiasteikko","valueEn":"Assessment scale","valueSv":""},"content":{"valueFi":"0-5","valueEn":"0-5","valueSv":"0-5"}},{"title":{"valueFi":"Arviointikriteerit","valueEn":"Assessment criteria","valueSv":""},"content":{"valueFi":"The homework assignments and the final project are assessed separately, and the course grade is the highest level reached on both of them.","valueEn":"The homework assignments and the final project are assessed separately, and the course grade is the highest level reached on both of them.","valueSv":""}},{"title":{"valueFi":"Arviointikriteerit 2","valueEn":"Assessment criteria 2","valueSv":""},"content":{"valueFi":"","valueEn":"","valueSv":""}},{"title":{"valueFi":"Arviointikriteerit 3","valueEn":"Assessment criteria 3","valueSv":""},"content":{"valueFi":"","valueEn":"","valueSv":""}},{"title":{"valueFi":"Arviointikriteerit 4","valueEn":"Assessment criteria 4","valueSv":""},"content":{"valueFi":"","valueEn":"","valueSv":""}},{"title":{"valueFi":"Kielet","valueEn":"Languages","valueSv":""},"content":{"valueFi":"englanti","valueEn":"English","valueSv":"engelska"}},{"title":{"valueFi":"Taso","valueEn":"Level","valueSv":""},"content":{"valueFi":"Syventävät opinnot","valueEn":"Advanced Studies","valueSv":""}},{"title":{"valueFi":"Oppiaine","valueEn":"Subject","valueSv":""},"content":{"valueFi":"Tietotekniikka","valueEn":"Information and Communication Technology","valueSv":"Information and Communication Technology"}},{"title":{"valueFi":"Vastuuhenkilöt","valueEn":"Person in charge","valueSv":""},"content":{"valueFi":"Jens Lundell, Anastasia Koivikko","valueEn":"Jens Lundell, Anastasia Koivikko","valueSv":"Jens Lundell, Anastasia Koivikko"}},{"title":{"valueFi":"Luokittelu","valueEn":"Classification","valueSv":""},"content":{"valueFi":"","valueEn":"","valueSv":""}},{"title":{"valueFi":"Linkit","valueEn":"Links","valueSv":""},"content":{"valueFi":"","valueEn":"","valueSv":""}}]}