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Lecturer(s)
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Cvejn Jan, doc. Ing. Ph.D.
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Course content
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Lecture topics by week of the semester: 1. Introduction, basic terms: definition of robotics, use of robots in automation, industrial and advanced robotics. Sub-systems of industrial robots. 2. Kinematic chain, degrees of freedom. Types of mechanical structures of industrial robots, robot operational space. Redundand manipulators and parallel structures. 3. Basics of robot kinematics: matrix of homogenous transformation, obtaining rotation matrix from Euler angles, inversion problem. 4. Composition of homogenous transformations. End-point position of an open chain. Denavit-Hartenberg convention of construction of coordinate systems. 5. Velocity of translation and rotation motion of a body in space. Diferential kinematics of open chain. 6. Robot geometrical and analytical Jacobian. Kinematic singularity. 7. Inversion task of robotics. Numerical algorithms of trajectory inversion. 8. Planning trajectory of a robot. Energy-optimal trajectory point-to-point. Velocity profile method. Motion through a sequence of points. Utilization of interpolating polynomials and spline-functions. Planning in operational space. 9. Motorical and sensorical elements of robots. DC, brushless and stepper motors. Power amplifiers, gear boxes. 10. Mathematical model of a drive. Current feedback, electromagmetical friction. Position, velocity and acceleration sensors. Exteroceptive sensors. 11. Introduction to the robot dynamics. Kinetic energy of a rigid body and an open chain. Obtaining motion equations by Lagrange's method. Standard form of the motion equations, meaning of individual terms. 12. - 13. Robot control system architectures. Joint and operational space control. Methods of decentralized control by using PID controllers. Cascade control with velocity feedback. Compensation of non-linearities. Centralized control of robots by dynamics inversion. The content of the exercises corresponds to the topics of the lectures.
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Learning activities and teaching methods
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Monologic (reading, lecture, briefing), Methods of individual activities, Demonstration
- Practical training
- 52 hours per semester
- Term paper
- 26 hours per semester
- Preparation for an exam
- 40 hours per semester
- Home preparation for classes
- 32 hours per semester
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Learning outcomes
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A goal of the subject is to apprise of elementary methods and results in the area of robotics, especially the robot manipulators. The lectures are focused on basics of robot kinematics and dynamics, motoric and sensory elements, trajectory planning and robot feedback control principles.
Student after passing the subject: - proves teoretical knowledge in the area of robot kinematics and dynamics, - is able to: distinguish between mechanical structures of robots and characterize them, solve direct and inverse kinematics problems, plan robot trajectories subject to given conditions, characterize the elements of motoric and sensory systems of robots, explain the meaning of the terms of the robot motion equations, design decentralized control system of a robot on the basis of the PID contollers and explain the principle of centralized control by inverse dynamics.
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Prerequisites
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Mathematics - diferential and integral calculus, matrices, differential equations. Physics - rigid body mechanics. Control theory - control circuits, PID controller. Programování v MATLAB.
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Assessment methods and criteria
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Oral examination, Written examination, Home assignment evaluation, Student performance assessment
Grant of credits is subject to presence on exercises and working out all submitted tasks. The examination has written and oral part.
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Recommended literature
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SICILIANO, B., SCIAVICCO, L., ORIOLLO, G. Robotics: Modelling, Planning and Control. 2009.
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Spong, M.W., HUTCHINSON, S., VIDYASAGAR, M. Robot Modeling and Control. 2006.
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