{"id":18493,"date":"2025-07-19T16:53:47","date_gmt":"2025-07-19T14:53:47","guid":{"rendered":"https:\/\/www2.mie.uth.gr\/?page_id=18493"},"modified":"2025-10-25T20:51:25","modified_gmt":"2025-10-25T17:51:25","slug":"%ce%b5%cf%800902-robotics-elective","status":"publish","type":"page","link":"https:\/\/mie.uth.gr\/?page_id=18493&lang=en","title":{"rendered":"\u0395\u03a00902 Robotics (Elective)"},"content":{"rendered":"\t\t
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\u0395\u03a00902 ROBOTICS (ELECTIVE COURSE)<\/h1>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\u0395\u03a00902 ROBOTICS (ELECTIVE COURSE)<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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Course Information<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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Course Outline<\/span><\/a><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Course Category<\/strong>
Course Type<\/strong>
Secretary Code<\/strong>
Semester<\/strong>
Duration<\/strong>
ECTS Units<\/strong>
Instructor<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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Undergraduate
\u0395lective Course
\u0395\u03a00902
9th (Winter)
5 hours\/week
6
Ampountolas Konstantinos<\/a><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Course Category: <\/strong>Undergraduate
Course Type: <\/strong>\u0395lective Course
Secretary Code: <\/strong>\u0395\u03a00902
Semester: <\/strong>9th (Winter)
Duration: <\/strong>5 hours\/week
ECTS Units:\u00a0<\/strong>6
Instructor: <\/strong>Ampountolas Konstantinos<\/a><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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<\/i>Aim<\/span><\/div>

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.<\/p><\/div>\n\t\t\t\t\t<\/div>

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<\/i>Syllabus<\/span><\/div>

The Robotics course covers the following modules: <\/p>

  • \u00a0Robot kinematics (forward and inverse Kinematics). <\/li>
  • Velocity kinematics and statics (differential kinematics, Jacobians, singularity analysis, holonomic and nonholonomic manipulators). <\/li>
  • Denavit-Hartenberg algorithm and the Product of Exponentials (PoE) formula. <\/li>
  • Dynamics. <\/li>
  • Robot motion planning. <\/li>
  • Swarm coordination. <\/li>
  • Control of robotic manipulators. <\/li>
  • Automated ground vehicles (AGVs). <\/li>
  • Sensors and actuators. <\/li>
  • Simulation of robotic manipulators using \u00abCoppeliaSim\u00bb and \u00abRobotic Operating System (ROS)\u00bb.<\/li><\/ul><\/div>\n\t\t\t\t\t<\/div>
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    <\/i>Literature<\/span><\/div>

    Books<\/strong><\/span>
    \u2212 J. Craig. Introduction to Robotics: Mechanics and Control, 3rd Ed. Prentice-Hall, NJ, 2004. \u0395\u03cd\u03b4\u03bf\u03be\u03bf\u03c2: 68373927.
    \u2212 K. M. Lynch and F. C. Park. Modern Robotics: Mechanics, Planning, and Control. Cambridge University Press, 2017. Online: http:\/\/modernrobotics.org
    \u2212 M. W. Spong, S. Hutchinson, and M. Vidyasagar. Robot Modeling and Control. Wiley, 2005.
    \u2212 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.
    \u2212 J.-C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991.
    \u2212 S. M. LaValle. Planning Algorithms. Cambridge University Press, 2006.
    \u2212 B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo. Robotics: Modelling, Planning and Control. Springer, 2009.
    \u2212 B. Siciliano, O. Khatib. Handbook of Robotics, 2nd Ed. Springer, 2016. Online: http:\/\/handbookofrobotics.org.<\/p>

    Journals<\/strong><\/span>
    \u2212 IEEE Transactions on Robotics
    \u2212 IEEE Transactions on Automation Science & Engineering
    \u2212 IEEE Transactions on Haptics
    \u2212 IEEE Transactions on Medical Robotics & Bionics
    \u2212 IEEE Robotics & Automation Magazine
    \u2212 IEEE\/ASME Transactions on Mechatronics
    \u2212 Science Robotics<\/p>

    Conferences<\/strong><\/span>
    \u2212 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)
    \u2212 IEEE International Conference on Robotics and Automation (ICRA)
    \u2212 International Conference on Unmanned Aircraft Systems (ICUAS)
    \u2212 ACM\/IEEE International Conference on Human-Robot Interaction (HRI)<\/p><\/div>\n\t\t\t\t\t<\/div>

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    <\/i>Teaching Language<\/span><\/div>

    Greek or English<\/p><\/div>\n\t\t\t\t\t<\/div>

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    <\/i>Teaching Method<\/span><\/div>

    Lectures<\/p><\/div>\n\t\t\t\t\t<\/div>

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    <\/i>Studen Performance Evaluation<\/span><\/div>
    Examination<\/strong><\/td>70%<\/td><\/tr>
    Coursework and\/or laboratory work<\/strong><\/td>30%<\/td><\/tr><\/tbody><\/table><\/div>\n\t\t\t\t\t<\/div>
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    <\/i>Workload (in hours)<\/span><\/div>
    Activity<\/strong><\/td>Semester Workload<\/strong><\/td><\/tr>
    \u00a0Lectures<\/td>40<\/td><\/tr>
    Tutorials<\/td>12<\/td><\/tr>
    Laboratory work<\/td>6<\/td><\/tr>
    Coursework\/Project work (at home)<\/td>42<\/td><\/tr>
    Private study<\/td>50<\/td><\/tr>
    Course total<\/strong><\/td>150<\/strong><\/td><\/tr><\/tbody><\/table><\/div>\n\t\t\t\t\t<\/div><\/div>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"

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