This course is an introduction to the field of robotics. It covers the fundamentals of kinematics, dynamics, trajectory planning, control of robot manipulators, and sensing. The course deals with homogeneous transformations, forward and inverse kinematics of robotic manipulators, differential kinematic equations, the manipulator Jacobian, and force relations. It also presents the fundamental principles on motion planning, proximity, tactile, and force sensing. Students are expected to have a background in linear algebra, calculus, and physics.

The Robotics course covers the following modules:

•  Robot kinematics (forward and inverse Kinematics).
• Velocity kinematics and statics (differential kinematics, Jacobians, singularity analysis, holonomic and nonholonomic manipulators).
• Denavit-Hartenberg algorithm and the Product of Exponentials (PoE) formula.
• Dynamics.
• Robot motion planning.
• Swarm coordination.
• Control of robotic manipulators.
• Automated ground vehicles (AGVs).
• Sensors and actuators.
• Simulation of robotic manipulators using «CoppeliaSim» and «Robotic Operating System (ROS)».

Books
− J. Craig. Introduction to Robotics: Mechanics and Control, 3rd Ed. Prentice-Hall, NJ, 2004. Εύδοξος: 68373927.
− K. M. Lynch and F. C. Park. Modern Robotics: Mechanics, Planning, and Control. Cambridge University Press, 2017. Online: http://modernrobotics.org
− M. W. Spong, S. Hutchinson, and M. Vidyasagar. Robot Modeling and Control. Wiley, 2005.
− H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun. Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, Cambridge, MA, 2005.
− J.-C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991.
− S. M. LaValle. Planning Algorithms. Cambridge University Press, 2006.
− B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo. Robotics: Modelling, Planning and Control. Springer, 2009.
− B. Siciliano, O. Khatib. Handbook of Robotics, 2nd Ed. Springer, 2016. Online: http://handbookofrobotics.org.

Journals
− IEEE Transactions on Robotics
− IEEE Transactions on Automation Science & Engineering
− IEEE Transactions on Haptics
− IEEE Transactions on Medical Robotics & Bionics
− IEEE Robotics & Automation Magazine
− IEEE/ASME Transactions on Mechatronics
− Science Robotics

Conferences
− IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
− IEEE International Conference on Robotics and Automation (ICRA)
− International Conference on Unmanned Aircraft Systems (ICUAS)
− ACM/IEEE International Conference on Human-Robot Interaction (HRI)

Greek or English

Lectures