Robotics
BASIC DATA
course listing
A - main register
course code
ATR0030
course title in Estonian
Robotitehnika
course title in English
Robotics
course volume CP
-
ECTS credits
6.00
to be declared
yes
fully online course
not
assessment form
Examination
teaching semester
autumn - spring
language of instruction
Estonian
English
Study programmes that contain the course
code of the study programme version
course compulsory
EAAB16/25
no
EARB16/25
yes
MVEB14/25
yes
Structural units teaching the course
EE - Department of Electrical Power Engineering and Mechatronics
Course description link
Timetable link
View the timetable
Version:
VERSION SPECIFIC DATA
course aims in Estonian
Aine õpetamise/õppimise eesmärgiks on:
- arendada silmaringi robotitest kui universaalsetest masinatest, mis aitavad hõlbustada inimese tööd, avardavad tema tunnetuspiire ning millele saab anda inimesele ohtlikke ülesandeid;
- süvendada arusaamist insenerimõtte ja tehnikateaduse eri valdkondade: mehaanika, elektrotehnika ja informaatika tihedast seosest robotiehituses ja tootmise automatiseerimisel;
- arendada süsteemiintegraatorile vajalikke teadmisi konkureerivate lahenduste analüüsil ja võrdlemisel ning oskusi roboteid ja robotsüsteeme sihipäraselt kasutada;
- teadvustada robotite ja automaatide arendustöö eetilisi probleeme.
course aims in English
The teaching /learning aims are following:
- to develop an understanding of robots as universal machines to help people work in abnormal or dangerous conditions or to expand limits of human cognition;
- to deepen an understanding of connections between different areas of engineering and science like mechanical and electrical engineering, informatics, and integration of knowledge in robotics and industry automation;
- to develop knowledge for a system integrator, like analysis and comparison of competitive solutions and skills for targeted use of robots and robot systems;
- to develop awareness of ethical problems of modern robotics development.
learning outcomes in the course in Est.
Üliõpilane
- tunneb robotite kui universaalsete masinate ja automaatide arengulugu ja oskab liigitada roboteid nii ehituse, kasutusala kui ka juhtimissüsteemi taseme järgi;
- tunneb robotite manipulaatorite ja juhtimissüsteemide ehitust ja juhtimispõhimõtteid ning oskab matemaatiliselt kirjeldada roboti kinemaatikaülesandeid;
- tunneb robotiehituses kasutatavaid komponente ja oskab neid valida ning rakendada roboti manipulaatori või juhtimissüsteemi loomisel;
- oskab arvutada robotiajami koormusi ning valida ajamile sobiva mootori ja juhtimissüsteemi;
- oskab programmeerida ja kasutada tööstusroboteid tootmisprotsesside automatiseerimisel;
- tunneb virtuaalse robotitehnika tarkvarapakette ja oskab neid kasutada robotsüsteemide loomisel.
learning outcomes in the course in Eng.
A student shall acquire:
- knowledge of historical developments of robots as universal machines and automata and skills of their classification on the basis of design, application field or level of a control system;
- knowledge about the construction of robot manipulators and design and control principles of robot’s control systems; skills to describe mathematically kinematics tasks of robots;
- knowledge about components used in robotics and skills to select and apply needed components for the composition of a robot manipulator or a control system;
- skills to calculate the load of robot drives and to select and apply a motor or a control unit required in a robot drive;
- skills to program and use industrial robots for automation of production processes;
- knowledge about software packages of virtual robotics and skills to use them for the development of new robot systems.
brief description of the course in Estonian
Robootika kui bioonika osa. Bioonika põhimõisted ja rakendused. Robotite olemus, liigitus ja üldehitus. Robot kui automaatjuhtimisobjekt. Robotite matemaatilised mudelid ja juhtimisülesanded. Roboti täiturseadme mehaanika: kinemaatilised jada- ja rööpahelad; lülidega seotud koordinaadistikud; manipulaatori asendi- ja kiirusvektorite teisendamine ühest koordinaadistikust teise; manipulaatori kinemaatika ja dünaamika otsesed ning pöördülesanded; liikumise plaanimine ja realiseerimine; veo-, teisaldus- ja suunistusmehhanismid, manipulaatormehhanismid, haaratsid. Robotiajamid: lülide kiiruste, inertsmasside, jõudude ja pöördemomentide taandamine ajami võllile; ajami liikumisvõrrandid ning mehaanilise süsteemi eripära, s. o. mehhanismi järeleandvuse, elastsuse, lõtkude, hõõrdumise mõju ajami tööle; ajamis kasutatavad mootorid, muundurid ja andurid; ajamite dünaamilised ja energeetilised parameetrid; ajamite juhtimisülesanded. Robotite juhtimissüsteemid. Ajamite juhtimine ja selleks kasutatav tarkvara. Robotite programmeerimine ja õpetamine, programmeerimiskeeled. Robotite kasutamine paindtootmissüsteemides. Roboti kõrgemad juhtimistasandid. Inimese-masina liides. Bioonika ja robootika eetilised ja sotsiaalsed aspektid. Roboti hägusloogiline juhtimine. Ümbrusetaju. Intellektuaalsed juhtimisülesanded.

Kursust tutvustav video (EuroTeQ): https://www.youtube.com/watch?v=t14wsHSbVWQ
brief description of the course in English
Robotics as the part of bionics. Nature and applications of the bionics. Nature and construction of robots. Control functions of the robots. Mathematical modelling of manipulators. Model-based control of robots. Construction of manipulators: series and parallel link kinematics of manipulators, co-ordinate systems of the robots, position, velocity and acceleration vectors of robots, co-ordinate transformation, direct and reverse kinematical transformations, trajectory planning and motion control functions, transportation, transferring and orientation of work pieces. Robot’s drives: pneumatic, hydraulic and electric drives, drives structure and components, drive controllers, digital control of drives, digital regulators and filters, load and motor characteristics, flexibility, backlash, friction and compliance effects in drive control, drive motors, converters and sensors, energy consumption of drives. Control systems of robots: software for drive control, programming and teaching of robots, programming languages, robots in flexible manufacturing systems (FMS), higher levels in control hierarchy of robots, man-machine interface (MMI), fuzzy logic control of robots, shape and object identification and recognition, environment perception, intellectual control of robots. Etichal and social aspects of bionics and robotics.

VIDEO INTRODUCING THE COURSE (EuroTeQ): https://www.youtube.com/watch?v=t14wsHSbVWQ
type of assessment in Estonian
Eksami eelduse saamiseks tuleb sooritada 4 robotite programmeerimisega seotud praktilist tööd. Üliõpilane peab läbima loengukursuses vähemalt ühe teadmiste testi. Roboti talitluse kirjeldamise, kinemaatikaülesannete lahendamise, trajektoori plaanimise, ajami võimsuse valiku ning ajamite ja roboti juhtimise kohta tuleb lahendada kodutöö ülesanne. Eksamile pääsemiseks peavad kodutöö ja praktiliste tööde aruanded olema arvestatud. Hinnang töödele antakse õppejõu poolt esitatud elektrooniliste aruannete ja õppejõu küsimustele antud vastuste põhjal. Lävendi ületamiseks peavad teadmised ja oskused vastava töö või testi kohta olema vähemalt 60%. Kirjalikul eksamil on 5 kuni 10 ülesannet. Eksamihinde määramisel arvestatakse kodutööde ja jooksvate ülesannete tähtajalist täitmist ja edukat kaitsmist.
type of assessment in English
A student is required to pass four practical laboratory tasks for programming of robots and robot systems. During the lecture course one test as a minimum must be passed. An individual assignment about the description of robot operation, solving of kinematics tasks, trajectory planning, calculation of drive load characteristics and description of robot’s control system must be prepared. Admission to the examination is granted only to students whose individual work reports, tests and practical works have acquired positive assessment. The written examination includes 5...10 tasks. The examination result will be determined as a summative value of the assessment points of the exam and individual work, whereas the deadline limits will be taken into account.
independent study in Estonian
Iseseisev töö seisneb roboteid ja nende komponente käsitlevate teoreetiliste materjalide läbitöötamises ja vastavate kodutööde täitmises. Töö maht statsionaarses õppes - 64 tundi, kaugõppes - 112 tundi.
independent study in English
Individual work on theory, simulation and calculation of robots and their components for stationary students - 64 hours, for distance learning students - 112 hours.
study literature
J. J. Craig, Introduction to Robotics: Mechanics and Control (4rd ed.), Hoboken : Pearson, 2018, 438 p.
Robotitehnika / Tõnu Lehtla ; Tallinna Tehnikaülikooli Kirjastus, 2008 ([Tallinn] : Infotrükk), 201 lk.
study forms and load
daytime study: weekly hours
4.0
session-based study work load (in a semester):
lectures
1.0
lectures
4.0
practices
3.0
practices
8.0
exercises
0.0
exercises
4.0
lecturer in charge
-
LECTURER SYLLABUS INFO
semester of studies
teaching lecturer / unit
language of instruction
Extended syllabus or link to Moodle or to home page
2025/2026 autumn
Madis Lehtla, EE - Department of Electrical Power Engineering and Mechatronics
Estonian
    Valery Vodovozov, EE - Department of Electrical Power Engineering and Mechatronics
    English
      display more
      2024/2025 spring
      Madis Lehtla, EE - Department of Electrical Power Engineering and Mechatronics
      Estonian
        2024/2025 autumn
        Valery Vodovozov, EE - Department of Electrical Power Engineering and Mechatronics
        English
          Madis Lehtla, EE - Department of Electrical Power Engineering and Mechatronics
          Estonian
            2023/2024 spring
            Madis Lehtla, EE - Department of Electrical Power Engineering and Mechatronics
            Estonian
              2023/2024 autumn
              Valery Vodovozov, EE - Department of Electrical Power Engineering and Mechatronics
              English
                ATR0030en_assesment_OIS.pdf 
                Madis Lehtla, EE - Department of Electrical Power Engineering and Mechatronics
                Estonian
                  ATR0030_Robotics_assesment.pdf 
                  2022/2023 autumn
                  Madis Lehtla, EE - Department of Electrical Power Engineering and Mechatronics
                  Estonian
                    ATR0030_Robotics_assesment.pdf 
                    Valery Vodovozov, EE - Department of Electrical Power Engineering and Mechatronics
                    English
                      ATR0030_Robotics_assesment.pdf 
                      2021/2022 spring
                      Valery Vodovozov, EE - Department of Electrical Power Engineering and Mechatronics
                      English
                        ATR0030_Robotics_assesment.pdf 
                        2021/2022 autumn
                        Valery Vodovozov, EE - Department of Electrical Power Engineering and Mechatronics
                        English
                          ATR0030_Robotics_assesment.pdf 
                          Madis Lehtla, EE - Department of Electrical Power Engineering and Mechatronics
                          Estonian
                            ATR0030_Robotics_assesment.pdf 
                            2020/2021 autumn
                            Madis Lehtla, EE - Department of Electrical Power Engineering and Mechatronics
                            Estonian
                              ATR0030_Robotics_assesment.pdf 
                              Valery Vodovozov, EE - Department of Electrical Power Engineering and Mechatronics
                              English
                                ATR0030_Robotics_assesment.pdf 
                                2019/2020 autumn
                                Robert Hudjakov, EE - Department of Electrical Power Engineering and Mechatronics
                                English, Estonian
                                  ATR0030_Robotics_assesment.pdf 
                                  Course description in Estonian
                                  Course description in English