Robot control 1000-317bRC
I. Computer Vision
* Introduction to cameras.
* 2D <> 3D relationship, stereovision.
* SLAM.
* NeRF.
II. Introduction to robotics:
* robot motors and sensors,
* forward and inverse kinematics,
* Jacobian and linear moves,
* planning (A*, RRT).
III. Elements of control theory:
* linearization of dynamical systems,
* LQR,
* Kalman filter.
Course coordinators
Term 2023Z: | Term 2024Z: |
Type of course
Learning outcomes
Knowledge: the student
* has based in theory and well organized knowledge of problems of robot control, in particular of motion kinematics, movement planning and orientation in space [K_W11],
Abilities: the student is able to
* apply techniques of programmed robot control [K_U14].
Social competences: the student is ready to
* critically evaluate acquired knowledge and information [K_K01];
* recognize the significance of knowledge in solving cognitive and practical problems and the importance of consulting experts when difficulties arise in finding a self-devised solution [K_K02];
* think and act in an entrepreneurial way [K_K03].
Assessment criteria
Final grade is based upon the credit programming project, homeworks (computer programs) and exam in laboratory.
Bibliography
Frank C. Park and Kevin M. Lynch, Modern Robotics: Mechanics, Planning, and Control
Peter Corke, Robotics, Vision and Control