UNIK4490 - Control of manipulators and mobile robots

Schedule, syllabus and examination date

Choose semester

Course content

This course gives you a comprehensive understanding of control methods for robotic arms (manipulators), both low level control and planning of the robot's movements. You will also get detailed knowledge of mobile robots. This includes the characteristics of mobile robots and how to plan and follow trajectories. The focus of the course will be first to learn the theory and then employ this theory in practice, both in simulations and in the lab.

Learning outcome

After completing the course you will have:

  • an understanding of advanced controllers for manipulators, such as multivariable control, force control, visual servoing, tele-operation
  • knowledge of how to plan the robot's movements
  • an understanding of the characteristics of mobile robots, i.e. kinematics and dynamics, and how to plan and follow trajectories
  • the ability to use controllers on a physical robot
  • the ability to use theory of mobile robots to get a mobile robot to navigate around obstacles
  • the ability to use Robotic Operation System (ROS) to control robots


Students admitted at UiO must apply for courses in Studentweb. Students enrolled in other Master's Degree Programmes can, on application, be admitted to the course if this is cleared by their own study programme.

Nordic citizens and applicants residing in the Nordic countries may apply to take this course as a single course student.

If you are not already enrolled as a student at UiO, please see our information about admission requirements and procedures for international applicants.


Recommended previous knowledge

INF3480 - Introduction to robotics, UNIK4540 - Mathematical modelling of dynamic systems or similar is recommended.

Students without background such as given by INF1000 - Introduction to object-oriented programming (continued)/INF1100 - Introduction to programming with scientific applications (continued), MAT1110 - Calculus and linear algebra or without knowledge of the Laplace transform must expect extra effort here.


Two hours lecture and one hour exercise/lab each week.

Three mandatory assignments during the semester, some including lab work. You must get all the mandatory exercises approved in order to take the exam.


Oral exam in the end of the semester (in case of many students there may be a written exam instead).

All mandatory assignments must be approved before the exam.

Language of examination

You may write your examination paper in Norwegian, Swedish, Danish or English.

Grading scale

Grades are awarded on a scale from A to F, where A is the best grade and F is a fail. Read more about the grading system.

Explanations and appeals

Resit an examination

Students who can document a valid reason for absence from the regular examination are offered a postponed examination at the beginning of the next semester.

Re-scheduled examinations are not offered to students who withdraw during, or did not pass the original examination.

Withdrawal from an examination

It is possible to take the exam up to 3 times. If you withdraw from the exam after the deadline or during the exam, this will be counted as an examination attempt.

Special examination arrangements

Application form, deadline and requirements for special examination arrangements.

Facts about this course






Every autumn


Every autumn

Teaching language

Norwegian (English on request)