Course detail

Programming for Robots and Manipulators

FSI-VRM-KAcad. year: 2023/2024

Subject enables the students to acquire skills and knowledge of programming industry/mobile robots, manipulators and enables them to extend these skills, integration and deployment in real industry application. The focus is on practical skills of students in laboratory exercises which contains four blocks: Introduction, Robotic Operating System, Simulation and digital twins, and Virtual/Augmented reality in robotics.

Language of instruction

Czech

Number of ECTS credits

4

Mode of study

Not applicable.

Guarantor

prof. RNDr. Ing. Jiří Šťastný, CSc.

Department

Institute of Automation and Computer Science (ÚAI)

Entry knowledge

algebra (M1), basics of algoritmization and programming

Rules for evaluation and completion of the course

Podmínky udělení klasifikovaného zápočtu: Základní podmínkou pro udělení klasifikovaného zápočtu je aktivní absolvování všech laboratorních cvičení a zpracování elaborátů podle pokynů učitele. Druhá část zápočtu odpovídá praktickému testu, kdy student programuje robota dle zadaných kritérií. Bodový součet a výsledné hodnocení je dle stupnice ECTS. Přednáška je doporučená, není povinná.
Attendance at lectures is recommended, attendance at seminars is required. It is at the teacher's discretion to decide how to make up for missed seminars.

Aims

The goal of the subject Programming of robots and manipulators is to introduce students to modern approaches to robotic technology with focus on programming including solving kinematics/dynamics, optimization of movement, Industry 4.0 and utilization of artificial intelligence.
The knowledge of programming industry/mobile robots, manipulators and enables them to extend these skills, integration and deployment in real industry application.

Study aids

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

KOLÍBAL, Zdeněk. Roboty a robotizované výrobní technologie. Brno: Vysoké učení technické v Brně - nakladatelství VUTIUM, 2016. ISBN 978-80-214-4828-5.
SICILIANO, Bruno a KHATIB, Oussama, ed. Springer handbook of robotics. 2nd edition. Berlin: Springer, 2016. ISBN 978-3-319-32550-7

Recommended reading

ROS.org. ROS.org | Powering the world’s robots. [online]. 2.11.2016 [cit. 2016-11-02]. Dostupné z: http://www.ros.org/ Sebastian Thrun, Wolfram Burgard, and Dieter Fox.

Classification of course in study plans

  • Programme N-AIŘ-K Master's 1 year of study, summer semester, compulsory-optional

Type of course unit

 

Guided consultation in combined form of studies

13 hod., compulsory

Teacher / Lecturer

doc. Ing. Pavel Škrabánek, Ph.D.
Ing. Roman Parák, Ph.D.

Syllabus

1. Introduction, history and definition of robots and manipulators.
2. Stationary industry robots and single purpose manipulators, Specific constructions of industry robots, parallel structures. Programmable Logic Controllers and their usage in robotic. Control and programming of industry robots.
3. Direct and indirect role of kinematics and dynamics for defined robot types.
4. Robot Operating System (ROS). Planning/Optimization of movement and avoiding obstacles. Collaborative and mobile robotics. Automated Guided Vehicles (AGV).
5. End effectors and their adaptability. Sensor systems (LIDAR, 2D/3D computer vision). Robotic systems safety.
6. Industry 4.0. Robots and future automation.

Guided consultation

26 hod., optionally

Teacher / Lecturer

prof. RNDr. Ing. Jiří Šťastný, CSc.

Syllabus

Laboratories are divided into 4 thematic blocks:

BLOCK A (Introduction):
- Introduction of industry/mobile robots in institute's laboratory. Example of Industry cell 4.0.
- Basic programming of robot's movement and tasks (RobotStudio ABB, Polyscope, Automation Studio B&R).
BLOCK B (Robot Operating System - ROS)
- Installation, Configuration: ROS, ROS-I and needed packages.
- Planning/Optimization of movement and avoiding obstacles.
- Implementation and testing of designed robot solution.

BLOCK C (Simulation/Digital twins):
- Programming of robotized workplace with robots from ABB and Universal Robots.
- Programming of robotized workplace with linear transport and control using PLC.
- Mobile robot platform.

BLOCK D (Virtual/Augmented reality, visualization)
- Advanced visualization in web interface Mapp view.
- Example of application programming in Unity3D.
- Example of VR/AR application programming in Unity3D and Vuforia.