Mechanics and Control of Robots

Lecturer:

Michael Valášek (gar.), Václav Bauma, Zbyněk Šika

Tutor:

Michael Valášek (gar.), Václav Bauma, Zbyněk Šika

Supervisor:

Department of Mechanics, Biomechanics and Mechatronics

Synopsis:

Kinematics and dynamics of multibody systems. Choice of coordinates. Direct and inverse kinematic problem. Analytic solvability of direct and inverse kinematic problem. Kinematic accuracy. Robot workspace. Direct and inverse dynamic problem. Dynamic properties and their description. Point-to-point control and trajectory control. Force and compliant control. Linear control. Nonlinear control. Software tools - Simpack, Matlab-Simulink.

Requirements:

Syllabus of lectures:

Syllabus of tutorials:

Study Objective:

Study materials:

Note:

Time-table for winter semester 2011/2012:

Time-table is not available yet

Time-table for summer semester 2011/2012:

Time-table is not available yet

The course is a part of the following study plans: