Course detail

Modern Industrial Robotics

FEKT-MPC-MROAcad. year: 2022/2023

Basic components of industrial robots. Kinematic chains. Inverse kinematics. Singularities. Dynamics. Equations of motion. DH parameters identification. Path planning. Robot control.

Language of instruction

Czech

Number of ECTS credits

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 and inverse kinematics of industrial manipulators
- program basic functions of industrial manipulators

Prerequisites

The subject knowledge on the Bachelor´s degree level is requested.

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 one laboratory or home project, that the student elaborates during the semester.

Assesment methods and criteria linked to learning outcomes

40pts small project 1
40pts small project 2
20pts discussion on specified problem

Course curriculum

1. Robotics - introduction.
2. Main parts of Industrial manipulators, kinematic configurations. Kinematics configurations of industrial manipulators.
3. Industrial manipulators - kinematics, inverse kinematics, singularities.
4. Identification of DH parameters of unknown robot.
5. Trajectory planning of industrial manipulator.
6. Practical demonstrations on real manipulator.

Work placements

Not applicable.

Aims

To inform students about current state and future of robotics. Also, to inform students about peculiarities of robotic systems and prepare them for introduction of robotic systems to industry.

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

Participation in laboratory exercises is not mandatory.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Basic literature

SPONG, M. a M. VYDYASAGAR. Robot Dynamics and Control. Wiley India Pvt. Limited, 2008. ISBN 9788126517800. (EN)
ŠOLC,F. a L. ŽALUD. Robotika, VUTIUM, 2002 (CS)

Recommended reading

LAUMOND, J.P. Robot Motion Planning and Control: Lecture Notes in Control and Information Sciences. Springer Berlin Heidelberg, 2014. ISBN 9783662167908. (EN)
PŘIKRYL, K. Kinematika. Vyd. 5., V Akademickém nakladatelství CERM 3. vyd. Brno: Akademické nakladatelství CERM, 2008. Učební texty vysokých škol (Vysoké učení technické v Brně). ISBN 8021436794. (CS)

Elearning

eLearning: currently opened course

Classification of course in study plans

  • Programme MPC-KAM Master's 2 year of study, summer semester, compulsory-optional

Type of course unit

 

Lecture

22 hod., optionally

Teacher / Lecturer

Ing. František Burian, Ph.D.

Syllabus

1. Robotika - úvod, rozdělení, vymezení pojmů.
2. Prvky a struktura stacionárních průmyslových robotů. Kinematické konfigurace průmyslových robotů.
3. Kinematika stacionárních robotů. Řešení přímé i inverzní kinematické úlohy. Singularity.
4. Identifikace DH parametrů neznámého robotu, validace kinematiky.
5. Plánování dráhy stacionárního robotu.
6. Analýza přesnosti dosažení pozice manipulátoru

Laboratory exercise

4 hod., compulsory

Teacher / Lecturer

Ing. František Burian, Ph.D.

Syllabus

1-2. Praktické ukázky programování manipulátoru.

Elearning

eLearning: currently opened course