 CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2019/2020

The course is not on the list Without time-table
Code Completion Credits Range Language
AE3M33PRO Z,ZK 6 2P+2L
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. Industrial manipulator, its kinematics and state space.

2. Redundant and parallel manipulators.

3. Space motion, its representation and parameterization, axis of motion, rotation matrix, infinitesimal rotation, Euler angles, quaternions, interpolation of spatial motion.

4. Modified Denavit-Hartenberg notation.

5. Algebraic techniques for kinematical analysis.

6. Solving algebraic equations.

7. Singular poses of manipulators and their determination.

8. Inverse kinematics of a general 6DOF serial manipulator.

9. Algebraic formulation of the inverse kinematical task.

10. Solving the inverse kinematics.

11. Identification of kinematical parameters of real manipulators.

12. Algebraic formulation of the kinematical parameters identification.

14. Summary.

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:
http://cw.felk.cvut.cz/doku.php/courses/a3m33pro/start
No time-table has been prepared for this course
The course is a part of the following study plans:
Data valid to 2020-01-25
For updated information see http://bilakniha.cvut.cz/en/predmet12816304.html