Course detail

Robotics

FEKT-MPC-RBTAcad. year: 2024/2025

Basic components of industrial robots. Kinematic chains. Inverse kinematics. Singularities. Dynamics. Equations of motion. Path planning. Robot control.
Elements of mobile robots. Models of mobile robots. Sensoric systems of mobile robots. Self localization and navigation. Man-machine interface, telepresence. AI in robotics.
Non-traditional actuators in mobile robotics.

Language of instruction

Czech

Number of ECTS credits

6

Mode of study

Not applicable.

Guarantor

prof. Ing. Luděk Žalud, Ph.D.

Department

Department of Control and Instrumentation (UAMT)

Entry knowledge

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

Rules for evaluation and completion of the course

The content and forms of instruction in the evaluated course are specified by a regulation issued by the lecturer responsible for the course and updated for every academic year.

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.
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
- solve basic problems in mobile robot navigation, including GNSS and INS
- describe principals of visual telepresence
- actively use electrical and non-traditional actuators for mobile robot and industrial manipulator construction

Study aids

Not applicable.

Prerequisites and corequisites

Basic literature

Laumond J.P.: Planning Robot Motion. Springer, 1997. (EN)
Russell S.-Norvig P., Artificial Intelligence a Modern Approach, ISBN 978-0-13-604259-4 Russell S.-Norvig P. 0isbn 978-0-13-604259-4 (CS)
Spong, M.-Vydyasagar, M.: Robot Dynamics and Control. J. Willey,1989. (EN)
Šolc,F.,Žalud,L.:"Základy robotiky", (CS)

Recommended reading

Not applicable.

Classification of course in study plans

  • Programme MPC-KAM Master's 1 year of study, summer semester, compulsory-optional

Type of course unit

 

Lecture

26 hod., optionally

Teacher / Lecturer

prof. Ing. Luděk Žalud, Ph.D.

Syllabus

History of robotics. Future trends. Basic components of industrial robots. Applications of robots, hobby robotics.
How to build a robot. Instructions for project.
Kinematics of robots.
Inverse kinematics.
Path planning of industrial robots..
Dynamics of industrial robots.
Modelling and control of industrial robots.
Mobile robots. Survey of the most known projects.
Kinematics of wheeled robots.
Analysis, modelling and control of a wheeled robot.
Sensoric subsystem of mobile robots.
Self localization and navigation of mobile robot.
Path planning for mobile robots.

Laboratory exercise

26 hod., compulsory

Teacher / Lecturer

prof. Ing. Luděk Žalud, Ph.D.

Syllabus

Excursion to industry with robots.
Modelling and simulation of an industrial robot.
Programming and control of an industrial robot.