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Lecturer(s)
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Honc Daniel, Ing. Ph.D.
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Cvejn Jan, doc. Ing. Ph.D.
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Course content
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1. Introduction, basis terminology: application of the robots in automation, structures of industrial robots, kinematic chain, degrees of freedom. Types of configurations of industrial robots, robot workspace. Redundant manipulators. 2.-3. Transformation of the position of a point using elementary rotations. Euler angles, Homogenous transformation. Composition of transformations. Position of the ending point of a kinematic chain. Denavit-Hartenbergova notation. Transformation matrices for typical structures of industrial robots. 4. Velocity of translation and rotation of a body in space. Kinematics of the open chain. 5. Inverse kinematics problem. Numerical algorithms of trajectory pseudoinversion. The problem of singularity. 6. Planning trajectory of a robot. Energetic optimal trajectory point-to-point. The motion through a sequence of points. Utilizing interpolation polynomials and splines. 7. Introduction into the robot dynamics. Kinetic energy of a rigid body and the open chain. Obtaining motion equations using Lagrange method. Standard form of motion equations. 8. Motorical and sensorical elements of robots. DC, brushless and stepper motors. Hydraulic motors. Power amplifiers. Servomotors, principles of position control. Sensors of position, velocity and acceleration. Exteroceptive sensors. 9.-11. Architecture of robot control systems. Control in joint space and in operational space. Methods of decentralized control. Principles of centralized control of robots. Stability of control of robots using PD and PID controllers. Utilizing dynamic inversion and exact linearization. Adaptive control of robots. 12.-13.Introduction into planning motion in the space with obstacles. Representation of the shape of robot and the obstacles. Question of collision detection. Configuration space. Methods based on finding paths in configuration space. The method of artificial potentials.
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Learning activities and teaching methods
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Monologic (reading, lecture, briefing), Skills training, Work-related activities
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Learning outcomes
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To present fundamental methods and results from the area of robotics, especially robot manipulators. The explamation is focused on basics of robot kinematics and dynamics, motorical and sensorical elements, trajectory planning and principles of feedback control.
Obtaining orientation in the field of robotics, with focus predominantly on the principles of control of robots.
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Prerequisites
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Diferencial and integral calculus, control theory, mechanics.
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Assessment methods and criteria
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Oral examination, Written examination, Home assignment evaluation
Credit, written and oral examination.
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Recommended literature
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KARGER, A., KARGEROVÁ, M. Základy robotiky a prostorové kinematiky. ČVUT Praha, 2000.
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LUBOJACKÝ, O. a kol. Základy robotiky (skripta) 3. upravené vydání. VŠST Liberec, 1990.
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SICILIANO, B., SCIAVICCO, L., ORIOLLO, G. Robotics: Modelling, Planning and Control. Springer - Verlag, 2009.
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SPONG, M.W., HUTCHINSON, S., VIDYASAGAR, M. Robot Modeling and Control. John Wiley & Sons, 2006.
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