This pages gathers all the relevant information for the Robotic Systems Control course, laboratory, and project work. This is course 47.00 taught at Automation department of UTCluj on the winter semster of the academic year 2023-2024.

Lectures

You can download the presentations for each lecture below. Check the ’last update’ date on the first slide, to know if the slides have been recently updated.

• Lecture 00 (Introduction)
• Lecture 01 (Mathematical Background)
• Lecture 02 (Forward Kinematics)
• Lecture 03 (Denavit-Hartenberg Convention)
• Lecture 04 (The Jacobian)
• Lecture 05 (Inverse Kinematics)
• Lecture 06 (Trajectories)
• Lecture 07 (Dynamic Modeling I)
• Lecture 08 (Dynamic Modeling II)
• Lecture 09 (Controller Design)
• Advanced Control Methodologies (guest lecture)
• Lecture 10 (Drone Modeling)
• Lecture 11 (Mobile Robots Modeling)
• Lecture 12 (Summary)

Some lectures contain animations. These might work on Windows if you are using Acrobat Reader. But if you want them to work for sure, you should switch to Linux and use pdfpc, or PyMpress.

You can find recordings of the lectures from the academic year 2019-2020 in this Youtube playlist. The quality of the first few lectures is not great, but it greatly improves over time, so stick to it if you can.

Laboratories

For the laboratories, we switched to interactive notebooks for explaining the theory and developing small applications. You can download all the notebooks (constantly updated) from this git repository.

Project

For the project, you will need to develop a practical application using ROS. You can find the description of the task and the details on how to get started on the Project description document.

Resources

Here is a list of useful resources to expand your knowledge on robotics and not only:

• A fast introduction to robotics
• Open Access Books list from Springer
• Eurobot competition: If you are interested to participate, let me know! You can check previous work being done for this contests in the ERC project page

Presence

Presence to the laboratories is compulsory and you need to have attended all the laboratories in order to be eligible to take the exam. Each lab will be graded from 0 to 10, and in order for a laboratory to be marked as ‘attended’ you need to have at least a 5 for it.

Evaluation

Your final grade will be calculated based on your performance to the course exam, your grade from the project, and the average grade of your laboratories. The maximum grade for each of these categorieswill be 10. The exam will contribute by 60% to the final grade, the laboratories will contribute by 30%, and the project by 10%. The project is not compulsory to complete, however if you do not submit anything, then you will get a penalty of -10 to your project grade. To pass the course your final rounded grade has to be equal or greater than 5. We only round the final grade, not the individual (course, labs, project) grades.