Course detail

Robotics and Robotic Manipulators

FEKT-BPC-RBMAcad. year: 2019/2020

History, presence and future of robotics.
Overview of industrial robotics.
Kinematics of industrial robots.
Homogenous transform and it's use in robotics.
Sensors for robotics.
Actuator for robotics.

Language of instruction

Czech

Number of ECTS credits

4

Mode of study

Not applicable.

Guarantor

Ing. František Burian, Ph.D.

Department

Department of Control and Instrumentation (UAMT)

Learning outcomes of the course unit

Succesful student of the course should be able to:
- describe basics of industrial manipulator construction
- actively use homogeneous transformations
- solve forward kinematics of industrial manipulators
- program basic functions of industrial manipulators

Prerequisites

Not applicable.

Co-requisites

Not applicable.

Planned learning activities and teaching methods

Teaching methods depend on the type of course unit as specified in the article 7 of BUT Rules for Studies and Examinations.
Teaching methods include lectures and laboratory classes.

Assesment methods and criteria linked to learning outcomes

* 30pts (min 10pts) homeworks and work on computer lessons
* 50pts (min 10pts) written exam
* 20pts spoken exam, not needed to attend

One absence on computer lessons allowed. Attendance on two lessons required.

Course curriculum

Not applicable.

Work placements

Not applicable.

Aims

To develop the students understanding of industrial robotics. To develop an appreciation of the contrasting application of robots different industrial sectors. To introduce the students to basic elements of industrial robots, mechanical construction, drives, sensors and control systems.

Specification of controlled education, way of implementation and compensation for absences

The computer exercises is mandatory, the properly excused missed computer exercises can be compensate. Two lectures are mandatory.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

JELÍNEK, A. a CHROMÝ, A. Vybrané partie z Robotiky: elektronická skripta. Brno, 2015. (CS)
ŠOLC, F. a ŽALUD L.. Základy Robotiky: elektronická skripta. Brno, 2002. (CS)

Recommended reading

SNYDER, Wesley E. Industrial robots: computer interfacing and control. Englewood Cliffs, N.J.: Prentice-Hall, c1985. ISBN 01-346-3159-5. (EN)
SPONG, Mark W. a M. VIDYASAGAR. Robot dynamics and control. New York: Wiley. ISBN 978-0-471-61243-8. (EN)

Classification of course in study plans

  • Programme BPC-AMT Bachelor's 3 year of study, winter semester, compulsory-optional

  • Programme EEKR-CZV lifelong learning

    branch EE-FLE , 1 year of study, winter semester, compulsory-optional

Type of course unit

 

Lecture

18 hod., optionally

Teacher / Lecturer

Ing. František Burian, Ph.D.

Syllabus

1. Průmyslové roboty. Přehled. Stacionární versus mobilní robotika. Přehled manipulátorů, Kinematické koncepce, důležité parametry.
2. Homogenní transformace a její použití.
3. Úlohy kinematiky, Přímá a inverzní. Jakobián.
4. Manipulátory - Řízení a programování průmyslových robotů.
5. Manipulátory prakticky - portfolio firmy (typy a velikosti robotů), popis programovacího jazyka, ukázka způsobu programování. (účast povinná)
6. Manipulátory prakticky - portfolio firmy (typy a velikosti robotů), popis programovacího jazyka, ukázka způsobu programování. (účast povinná)
7. Pohony v robotice - elektrické motory, krokové motory, BLDC motory. Momentová rovnice. Řízení pohonů.
8. Mobilní robotika, základy teleprezence.
9. Sebelokalizace a řízení mobilních robotů – kinematika podvozku, INS, GNSS.

Exercise in computer lab

8 hod., compulsory

Teacher / Lecturer

Ing. František Burian, Ph.D.

Syllabus

1. Homogenní transformace. Přímá úloha kinematiky.
2. Denavit-Hartenbergova úmluva. Přímá úloha kinematiky.
3. Jakobián. Inverzní úloha kinematiky.
4. Podvozky mobilních robotů, jejich vlastnosti, kinematika, odometrie.