Robotics

General

• Code: 91
• Semester: 9th
• Study Level: Undergraduate
• Course type: Core
• Teaching and exams language: Ελληνικά
• The course is offered to Erasmus students
• Teaching Methods (Hours/Week): Theory (2) / Exercises (1) / Lab (1)
• ECTS Units: 5
• Course homepage: https://exams-sm.the.ihu.gr/enrol/index.php?id=157
• Instructors: Tsagaris Apostolos, Gogoussis Aristides, Andras Christos

Course Contents

Classification of Robotic Systems, Robotic Arms, Robotic Fingers, Walking Devices, Omnidirectional Wheels, Self-Guided Robotic Vehicles (AGVs and AMRs), Robot Kinematics, Robot Dynamics, Inverse Kinematics and Dynamics, Kinematic Singularities, Identification of kinematic and dynamic parameters, Selected topics of Mechanism theory, Motion Control, Force Control, Compliance and Impedance Control, Path generation and tracking, Robot-based assembly operations, Remote Center Compliance (RCC), Cooperating robots, Robot programming, Brief Introduction to Machine vision (Digital Image Processing and Pattern recognition), Nanorobotics, Medical robotics, Various robotic applications, Haptic devices, Brief Intro to Virtual reality and its applications.

Educational Goals

Knowledge
Understanding:
– the structure and architecture of typical robotic systems
– the operation of representative robotic systems
– the applications of basic robotic systems
– Virtual Reality applications
Skills
Acquisition of proficiency in:
Path guidance of robotic systems
Simulation of robotic systems
Programming of robotic systems

General Skills

Analysis, design, and implementation of robotics applications
Search, analysis and synthesis of data and information using the necessary technologies
Adaptation to new situations
Autonomous work
Teamwork

Teaching Methods

Lectures, Laboratory Exercises, Projects
Slides, Use of computer simulations
Use of online teaching aids

Students Evaluation

Language: Greek
Lab Exercises and Projects
Final Written Examinations
Assessment criteria
Ability to:
– identify and describe the operation of robotic devices and robotic systems
– simulate robotic arms
– control robotic arms
– program robotic systems

Recommended Bibliography

John J. Craig, Introduction to Robotics: Mechanics and Control (3rd Edition), Pearson, ISBN-10: 0201543613, 2004
Maja J. Mataric, The Robotics Primer, MIT Press, ISBN 978-0-262-63354-3, 2009
Related Scientific Journals:
– IEEE Journal of Robotics and Automation.
– ASME Journal of Dynamic Systems, Measurement, Control.
– International Journal of Robotics Research.
– ASME Journal of Mechanical Design.