Course detail

Modern Industrial Robotics

FEKT-MPC-MROAcad. year: 2020/2021

Basic components of industrial robots. Kinematic chains. Inverse kinematics. Singularities. Dynamics. Equations of motion. DH parameters identification. Path planning. Robot control.

Learning outcomes of the course unit

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

Prerequisites

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

Co-requisites

Not applicable.

Recommended optional programme components

Not applicable.

Recommended or required reading

SPONG, M. a M. VYDYASAGAR. Robot Dynamics and Control. Wiley India Pvt. Limited, 2008. ISBN 9788126517800. (EN)
ASADA, H. a J.-J. E. SLOTINE. Robot analysis and control. New York, N.Y.: J. Wiley, c1986. ISBN 0471830291. (EN)
LAUMOND, J.P. Robot Motion Planning and Control: Lecture Notes in Control and Information Sciences. Springer Berlin Heidelberg, 2014. ISBN 9783662167908. (EN)
ŠOLC,F. a L. ŽALUD. Robotika, VUTIUM, 2002 (CS)
PŘIKRYL, K. Kinematika. Vyd. 5., V Akademickém nakladatelství CERM 3. vyd. Brno: Akademické nakladatelství CERM, 2008. Učební texty vysokých škol (Vysoké učení technické v Brně). ISBN 8021436794. (CS)

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.
Teaching methods include lectures and one laboratory or home project, that the student elaborates during the semester.

Assesment methods and criteria linked to learning outcomes

40pts small project 1
40pts small project 2
20pts discussion on specified problem

Language of instruction

Czech

Work placements

Not applicable.

Course curriculum

1. Robotics - introduction.
2. Main parts of Industrial manipulators, kinematic configurations. Kinematics configurations of industrial manipulators.
3. Industrial manipulators - kinematics, inverse kinematics, singularities.
4. Identification of DH parameters of unknown robot.
5. Trajectory planning of industrial manipulator.
6. Practical demonstrations on real manipulator.

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.

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

Participation in laboratory exercises is not mandatory.

Classification of course in study plans

  • Programme MPC-KAM Master's, 2. year of study, summer semester, 3 credits, compulsory-optional

Type of course unit

 

Lecture

22 hours, optionally

Teacher / Lecturer

Laboratory exercise

4 hours, compulsory

Teacher / Lecturer

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