Code: 24ΚΥ3


Introduction to industrial robots –Manipulator Kinematics. Spatial transformations – Kinematic equations –The inverse kinematics solution– Velocities and static forces –Trajectory planning and generation in the Cartesian space – Interpolation in the joint space –Position control of robots with one or more degrees of freedom – Control systems referenced to the Cartesian and joint space – Movement with compliance. Force sensors. Force control algorithms – Natural and artificial constraints. Hybrid position/force control– Programming and languages of industrial robots – Applications of industrial robots.

Laboratory and Project: On top of teaching, students are trained in laboratory including robot programming, and design and programming of robotic cells in a simulation and industrial robots. A small project has to be conducted and presented by small student groups.


Aspragathos Nikolaos, Koustoumpardis Panagiotis