Fundamentals of Robotics

Course Description

Robot types and their characteristics. Forms and characteristics of robot elements. Position and orientation of rigid body. Denavit-Hartenberg convention. Kinematics and inverse kinematics. Modeling of robot dynamics. Lagrange-Euler and Newton-Euler methods. Trajectory planning. Interpolation methods. Hierarchical robot control. Algorithms for control of coordinates of robot joint servo systems (position, speed, torque and force).

General Competencies

Knowledge about industrial robots and modelling of robot kinematics and dynamics. Ability to plan robot motion and execute planned trajectories. Knowledge of basic robot control principles and design methods. Understanding of robotized manufacturing systems.

Learning Outcomes

  1. create a kinematic model of a robot (direct and inverse kinematics)
  2. create a dynamic model of a robot (Lagrange-Euler, Newton-Euler)
  3. generate trajectories for Point-to-point and Continuous-path robot motion
  4. design robot joint position control systems
  5. design of robot force control
  6. synthesize robot control in the manufacturing system

Forms of Teaching


Lectures are organized in thematic cycles and comply with the exercises in the course Control Laboratory 1. Direct communication with students during lectures.


At least three home works must be presented (defended) in the class by randomly selected students.


Can be organized if students ask for it.

Laboratory Work

Laboratory exercises are carried out in the course Control Laboratory 1.


One hour weekly.

Grading Method

Continuous Assessment Exam
Type Threshold Percent of Grade Threshold Percent of Grade
Homeworks 50 % 20 % 50 % 20 %
Mid Term Exam: Written 50 % 25 % 0 %
Final Exam: Written 50 % 25 %
Final Exam: Oral 30 %
Exam: Written 50 % 50 %
Exam: Oral 30 %

The oral exam share is ±30%. Homeworks are obligatory.

Week by Week Schedule

  1. Video presentation: ABB Robot Systems, Application of robots in manufacturing of Mercedes and BMW. Robot types and characteristics.
  2. Types and characteristics of robot elements. Position and orientation of a rigid body. Quaternions. Denavit-Hartenberg convention.
  3. Direct kinematics. Examples of solving a forward kinematics problem.
  4. Inverse kinematics. Solving methods. Examples of solving an inverse kinematics problem.
  5. Dynamic robot modeling. Lagrange-Euler method of dynamic modeling.
  6. Newton-Euler method of dynamic modeling. Examples of N-E dynamic robot modeling.
  7. Trajectory planning. Point-to-point (PTP) robot motion planning. Interpolation methods. Taylor bounded deviation method.
  8. Midterm exam
  9. Continuous path (CP) robot motion planning. Ho-Cook trajectory planning method. Examples of trajectory planning with Ho-Cook method.
  10. Robotic drives and drive control systems. Synthesis of nominal robot control. Servo systems synthesis methods (PI and PDFF controller).
  11. Robot joint position control with joint torque control. PD position control with added compensations. Hsia method of robust position control.
  12. Robot joint position control with joint velocity control. PD position control with PI speed control. CNC-based robot joint position control.
  13. Robot force control. Hybrid robot force control.
  14. Robot impedance control.
  15. Final exam

Study Programmes

University graduate
Control Engineering and Automation (profile)
Theoretical Course (1. semester)


Z. Kovačić, S. Bogdan, V. Krajči (2002.), Fundamentals of robotics (in Croatian), Graphis d.d.
M. Crneković, T. Šurina (1990.), Industrial robots (in Croatian), Školska knjiga
R.J. Schilling (1990.), Fundamentals of Robotics - Analysis and Control, Prentice-Hall, Englewood Cliffs, New Jersey

Grading System

ID 34364
  Winter semester
L1 English Level
L1 e-Learning
45 Lecturers
0 Exercises
0 Laboratory exercises


89 Excellent
78 Very Good
60 Good
51 Acceptable