Advanced robotics

Lecturer:

Tutor:

Supervisor:

Department of Cybernetics

Synopsis:

We will explain and demonstrate techniques for modelling, analyzing and identifying robot kinematics. We will explain more advanced principles of the representation of motion in space and the robot descriptions suitable for identification of kinematic parameters from measured data. We will explain how to solve the inverse kinematic task of 6DOF serial manipulators and how it can be used to identify its kinematic parameters. Theory will be demonstrated on simulated tasks and verified on a real industrial robot.

Requirements:

A course of basic robotics, e.g. A3B33ROB.

Syllabus of lectures:

1. Introduction, algebraic equations and eigenvalues

2. Motion: Motion as a transformation of coordinates

3. Kinematics: Denavit-Hartenberg convention for a manipulator

4. Solving algebraic equations

5. Motion axis and the rotation matrix

6. Inverse kinematic task of a general 6R serial manipulator I

7. Inverse kinematic task of a general 6R serial manipulator II

8. Rotation reprezentation and parameterization

9. Angle-axis parameterization

10. Quaternions

11. Manipulator calibration

12. Summary and review.

Syllabus of tutorials:

1. Introduction to laboratory, Maple, a-test.

2. Correcting a-test, Maple.

3. Spatial rotations, representations, axis of motion.

4. Modified Denavit-Hartenberg notation.

5. Kinematics of redundant manipulator.

6. Solving algebraic equations.

7. Singular poses of a manipulator and their determination.

8. Task 1: Solving inverse kinematics task for a general 6DOF serial manipulator.

9. Task 1: Solving inverse kinematics task for a general 6DOF serial manipulator.

10. Task 1: Solving inverse kinematics task for a general 6DOF serial manipulator.

11. Task 2: Identification of kinematical parameters of a general 6DOF serial manipulator.

12. Task 2: Identification of kinematical parameters of a general 6DOF serial manipulator.

13. Task 2: Identification of kinematical parameters of a general 6DOF serial manipulator.

14. Presentation of solutions.

Study Objective:

The goal is do present more advanced methods of analysis and modeling of robot kinematics.

Study materials:

H. Asada, J.-J. E. Slotine. Robot Analysis and Control. Wiley-Interscience, 1986.

P. Pták. Introduction to Linear Algebra. Vydavatelství ČVUT, Praha, 2007.

A. Karger, M. Kargerová: Základy robotiky a prostorové kinematiky, Vydavatelství ČVUT,

Praha, 2000

Note:

Further information:

https://cw.felk.cvut.cz/wiki/courses/a3m33pro/start

No time-table has been prepared for this course

The course is a part of the following study plans:

• Elektrotechnika, energetika a management - Technologické systémy_144957 (elective course)
• Elektrotechnika, energetika a management - Elektrické stroje, přístroje a pohony_145019 (elective course)
• Elektrotechnika, energetika a management - Elektroenergetika_145039 (elective course)
• Elektrotechnika, energetika a management - Ekonomika a řízení energetiky_145106 (elective course)
• Elektrotechnika, energetika a management - Ekonomika a řízení elektrotechniky_145126 (elective course)
• Komunikace, multimédia a elektronika - Bezdrátové komunikace_145152 (elective course)
• Komunikace, multimédia a elektronika - Multimediální technika_145209 (elective course)
• Komunikace, multimédia a elektronika - Elektronika_145231 (elective course)
• Komunikace, multimédia a elektronika - Sítě elektronických komunikací_145248 (elective course)
• Kybernetika a robotika - Robotika_145304 (compulsory course of the specialization)
• Otevřená informatika - Umělá inteligence_145417 (elective course)
• Otevřená informatika - Počítačové inženýrství_145440 (elective course)
• Otevřená informatika - Počítačové vidění a digitální obraz_145456 (elective course)
• Otevřená informatika - Počítačová grafika a interakce_145515 (elective course)
• Otevřená informatika - Softwarové inženýrství_145534 (elective course)
• Komunikace, multimédia a elektronika - Komunikační systémy (elective course)