MPŠ MP&Scaron MP&Scaron MP&Scaron Avtorji

Jožef Stefan
Postgraduate School

Jamova 39
SI-1000 Ljubljana

Phone: +386 1 477 31 00
Fax: +386 1 477 31 10


Course Description

Selected Topics in Robotics


Information and Communication Technologies, second-level study programme


prof. dr. Jadran Lenarčič


The goal of the course is to present a basic knowledge on mechanisms of robot manipulators related to their motion, as well as their analysis and synthesis. The most efficient methods of treating direct and inverse kinematics and dynamics for the purpose of understanding, control and programming of robot motion are reported.
In the first part of the course, the students learn how to model the inverse and direct kinematics of robot mechanisms and treat different cases of serial robot mechanisms.
The following topic is related to robot dynamics and the basic principles of developing dynamic models are studied.
Optimum design of robot mechanisms and different criteria relative to the requirements of robot tasks are also presented.
In the end, unconventional robot mechanisms are treated, such as redundant and parallel mechanisms. Students learn the advantages and disadvantages of such mechanisms with respect to standard serial (industrial-type) mechanisms.


1) Introduction
Introduction to robotics, robotics in the world and specifically in Slovenia, advantages of flexible automation in industry.

2) Direct kinematics of robots
Example of direct kinematics of a planar mechanism, development of kinematic equations, system of trigonometric equations, rotation matrix, vector parameters of mechanisms, synthesis of kinematic equations for general serial mechanisms.

3) Inverse kinematics of robots
Example of inverse kinematics of a planar mechanism, problem of imaginary solutions, problem of multiple solutions, kinematic equations in Jacobian form, Jacobian matrix, inverse kinematics computed by Newton-Raphson numerical method.

4) Robot dynamic model
Role of dynamic models in robotics, Lagrange dynamic equations, simple examples, general form of a dynamic model

5) Design od robot mechanisms
Mathematical criteria for optimum robot design, workspace volume and workspace form, compactness of robot workspace, kinematic flexibility, manipulability and kinematic index

6) Parallel robots
Examples of parallel robots, characteristics of inverse and direct kinematics computation, advantages and disadvantages of parallel robots relative to robots which posses serial mechanisms.

7) Redundant robots
Examples of kinematic redundancy, basic principles of treating redundant robots, the role of kinematic redundancy in design and control of robot manipulators, examples of humanoid manipulation, human arm as a redundant mechanism in a majority of tasks.

Course literature:

• J. Lenarčič, T. Bajd, Robotski mehanizmi
• J. J. Craig, Introduction to Robotics (Mechanics and Control)
• L. Sciavicco, B. Siciliano, Modelling and Control of Robot Manipulators

Significant publications and references:

• BABIČ, Mitja, VERTECHY, Rocco, BARSELLI, G., LENARČIČ, Jadran, PARENTI-CASTELLI, Vincenzo, VASSURA, G. An electronic driver for improving the open and closed loop electro-mechanical response of dielectric elastomer actuators. Mechatronics, ISSN 0957-4158. [Print ed.], 2010, vol. 20, no. 2, str. 201-212., doi: 10.1016/j.mechatronics.2009.11.006. [COBISS.SI-ID 23716903], [JCR, SNIP, WoS do 7. 3. 2016: št. citatov (TC): 13, čistih citatov (CI): 12, Scopus do 7. 3. 2016: št. citatov (TC): 15, čistih citatov (CI): 12]
• GAMS, Andrej, IJSPEERT, Auke Jan, SCHAAL, Stefan, LENARČIČ, Jadran. On-line learning and modulation of periodic movements with nonlinear dynamical systems. Autonomous robots, ISSN 0929-5593. [Print ed.], 2009, vol. 27, no. 1, str. 3-23. [COBISS.SI-ID 22774055], [JCR, SNIP, WoS do 15. 1. 2017: št. citatov (TC): 58, čistih citatov (CI): 50, Scopus do 22. 11. 2016: št. citatov (TC): 78, čistih citatov (CI): 56]
• BABIČ, Jan, BOKMAN, Lim, OMRČEN, Damir, LENARČIČ, Jadran, PARK, F. C. A biarticulated robotic leg for jumping movements : theory and experiments. Journal of mechanisms and robotics, ISSN 1942-4302, 2009, vol. 1, no. 1, str. 011013-1-011013-9. [COBISS.SI-ID 22098983], [JCR,SNIP, WoS do 8. 11. 2016: št. citatov (TC): 4, čistih citatov (CI): 4, Scopus do 22. 11. 2016: št. citatov (TC): 14, čistih citatov (CI): 11]
• N. Klopčar, M. Tomšič in J. Lenarčič, A kinematic model of the shoulder complex to evaluate the arm- reachable workspace. Journal of Biomechanics, 2005.
• J. Lenarčič in N. Klopčar, Positional kinematics of humanoid arms. Robotica, 2005, vol. 24, str. 105-112.
• N. Klopčar in J. Lenarčič, Bilateral and unilateral shoulder girdle kinematics during humeral elevation. Clinical biomechanics, vol. 21, suppl. 1, 2006, str. S20-S26.
• J. Lenarčič in B. Roth (Ur.), Advances in robot kinematics - Mechanisms and motion. Springer, 2006


Seminar and oral exam (100%)

Students obligations:

Seminar and oral exam.