Course detail

Fundamentals of Robotics

FEKT-CROBAcad. year: 2011/2012

1. Robotics - introduction.
2. Robot sensors.
3.Selflocalisation in mobile robotics - GNSS (GPS, Glonass, Galileo).
4. Environment maps - Robot Evidence Grids /occupancy grids including data fusion), 8tree.
7. Human-robot cooperation, telepresence.
8. Mobile robot cooperation, robot competitions.
9. Non-traditional actuators.
10. Mobile robot - structure, basic parts.
11. Industrial manipulators - main parts, kinematic configurations.
12. Manipulators = kinematics, inverse kinematics, singularities.
13. Manipulators - dynamics, trajectory planning, cartesian coordinates, joint coordinates. Practical demonstrations.

Language of instruction

English

Number of ECTS credits

6

Mode of study

Not applicable.

Guarantor

prof. Ing. Luděk Žalud, Ph.D.

Department

Department of Control and Instrumentation (UAMT)

Learning outcomes of the course unit

Students acquire basic knowledge of construction, control and usage of industrial robots. They acquire skill in programming of industrial robots and in integration of robots into manufacturing process.

Prerequisites

The subject knowledge on the secondary school education 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.

Assesment methods and criteria linked to learning outcomes

Requirements for completion of a course are specified by a regulation issued by the lecturer responsible for the course and updated for every year.

Course curriculum

1. Robotics - introduction.
2. Robot sensors.
3.Selflocalisation in mobile robotics - GNSS (GPS, Glonass, Galileo).
4. Environment maps - Robot Evidence Grids /occupancy grids including data fusion), 8tree.
7. Human-robot cooperation, telepresence.
8. Mobile robot cooperation, robot competitions.
9. Non-traditional actuators.
10. Mobile robot - structure, basic parts.
11. Industrial manipulators - main parts, kinematic configurations.
12. Manipulators = kinematics, inverse kinematics, singularities.
13. Manipulators - dynamics, trajectory planning, cartesian coordinates, joint coordinates. Practical demonstrations.

Work placements

Not applicable.

Aims

To develop the students understanding of industrial robotics. To develop an appreciation of the contrasting application of robots different industrial sectors. To introduce the students to basic elements of industrial robots, mechanical construction, drives, sensors and control systems. To introduce students to basic mobile robotics.

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

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.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Šolc,F.,Žalud,L.:"Základy robotiky", VUT v Brně, elektronická skripta AMT010,2002 (CS)

Recommended reading

Snyder W.E.:Industrial Robots. Prentice Hall,1985. (EN)
Spong,M.,Vidyasagar,M.:"Robot Dynamics and Control" J.Wiey,1990 (EN)

Classification of course in study plans

  • Programme EEKR-BC Bachelor's

    branch BC-AMT , 2. year of study, summer semester, optional specialized

Type of course unit

 

Lecture

39 hours, optionally

Teacher / Lecturer

prof. Ing. Luděk Žalud, Ph.D.

Syllabus

Industrial robots and history of robotics.
Mechanical construction of industrial robots. Kinematics.
Inverse kinematics and path planning.
Drives for industrial robots, grippers.
Sensors for industrial robots.
Control systems of industrial robots.
Control systems of industrial robots, programming.
Basic kinetics of industrial robots.
Advanced control methods and programming.
Advanced sensors.
Robots and NC machine tools. CIM.
CIM and intelligent manufacturing.
Mobile robots.

Fundamentals seminar

5 hours, compulsory

Teacher / Lecturer

prof. Ing. Luděk Žalud, Ph.D.

Syllabus

Kinematics of a simple manipulator.
Kinematics of a simple manipulator, continued.
Inverse kinematics.
Inverse kinematics, continued.
Path planning.
Model of kinetics of a simple manipulator.

Exercise in computer lab

6 hours, compulsory

Teacher / Lecturer

prof. Ing. Luděk Žalud, Ph.D.

Syllabus

Modeling of kinematics of a manipulator.
Modeling of kinematics of a manipulator, continued.
Modeling of kinetics of a manipulator.
Modeling of kinetics of a manipulator, continued.
Modeling of kinetics of a manipulator, continued.

Laboratory exercise

5 hours, compulsory

Teacher / Lecturer

prof. Ing. Luděk Žalud, Ph.D.

Syllabus

Visit to a company using robots.
Programming of an industrial robot.
Programming of an industrial robot, continued.
Integration of a robot in production line.
Integration of a robot in production line, continued.
Excursion to company using CIM.
Excursion to company using CIM.

The other activities

10 hours, compulsory

Teacher / Lecturer

prof. Ing. Luděk Žalud, Ph.D.

Syllabus

Project: Microprocessor control of a simple mechanism.