Graduate Study - Faculty of Engineering and Natural Sciences
3+2 Electrical and Electronic Engineering

Code Name Level Year Semester
EEE 581 Advanced Robotics Graduate 1 Fall
Status Number of ECTS Credits Class Hours Per Week Total Hours Per Semester Language
Area Elective 6 3 150 English

Instructor Assistant Coordinator
Lejla Bandić, Research Assistant Jasmin Velagić Jasmin Velagić, Prof. Dr.
[email protected] [email protected] no email

This course develops your capabilities in Advanced Robotics. You will build on prior knowledge of Automatic Control systems and examine the design of robotic systems. Topics which will be covered include, (but are not limited to): Fundamentals of kinematics. Differential motions and velocities. Dynamic analysis and forces. Trajectory planning. Actuators. Sensors. Image processing and analysis with vision systems. Fuzzy logic control.

Dynamics: Review of Lagrangian dynamics, actuator and sensor dynamics. Trajectory planning: Cartesian space, joint space, interpolation methods. Position control: Independent joint control, PID and feed forward control, computer torque and inverse dynamics, resolved motion control, control of orientation. Force Control: Stiffness and compliance, network models, hybrid and impedance control.

  1. Introductory Material and Review
  2. Forward and Inverse Kinematics of Position
  3. Differential Motions and The Jakobian
  4. Path and Trajectory Planning
  5. Independent Joint Control
  6. Robot Dynamics
  7. Multivariable Control
  8. Force Control
  9. Midterm
  10. Geometric nonlinear control
  11. Actuators and Sensors
  12. Computer Vision
  13. Vision based control
  14. Fuzzy Logic


    • Interactive Lectures
    • Practical Sessions
    • Excersises
    • Presentation
    • Discussions and group work
    • Problem solving
    • Assignments
    Description (%)
    Method Quantity Percentage (%)
    Problem solving115
    Midterm Exam(s)125
    Lab/Practical Exam(s)115
    Final Exam140
    Total: 100
    Learning outcomes
    • Perform kinematic analysis of serial robot manipulator
    • Utilise dynamic analysis of robots
    • Understand different motion control methods in robotics and its implications within a robotic system
    • Appreciate and understand robot tooling design issues.
    • Demonstrate a wide knowledge and understanding of the application of robotics in industry
    • Demonstrate a wide knowledge and understanding of the application of robotics in the service industry.
    • \\\"Introduction to Robotics – Analysis, Systems, Applications”, Saeed B. Niku, 2001, Prentice Hall. ISBN: 0-13-061309-6

    ECTS (Allocated based on student) WORKLOAD
    Activities Quantity Duration (Hour) Total Work Load
    Lecture (14 weeks x Lecture hours per week)14342
    Laboratory / Practice (14 weeks x Laboratory/Practice hours per week)7214
    Midterm Examination (1 week)122
    Final Examination(1 week)122
    Preparation for Midterm Examination13535
    Preparation for Final Examination13535
    Assignment / Homework/ Project12020
    Seminar / Presentation 0
    Total Workload: 150
    ECTS Credit (Total workload/25): 6