Advanced Robotics
Code  Completion  Credits  Range  Language 

BE3M33PRO  Z,ZK  6  2P+2C  English 
 Corequisite:
 The course cannot be taken simultaneously with:
 Advanced robotics (A3M33PRO)
Advanced robotics (B3M33PRO)  The course is a substitute for:
 Advanced robotics (B3M33PRO)
 Lecturer:
 Tomáš Pajdla (guarantor), Zuzana Kúkelová
 Tutor:
 Tomáš Pajdla (guarantor), Michal Polic, Stanislav Steidl
 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: DenavitHartenberg 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. Angleaxis parameterization
10. Quaternions
11. Manipulator calibration
12. Summary and review.
 Syllabus of tutorials:

1. Introduction to laboratory, Maple, atest.
2. Correcting atest, Maple.
3. Spatial rotations, representations, axis of motion.
4. Modified DenavitHartenberg 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:

Reza N. Jazar: Theory of Applied Robotics: Kinematics, Dynamics, and Control. Springer, second edition, 2010.
A text book covering the geometry and kinematics of manipulators. Available in th e library of the CTU in Prague.
M. Meloun, T. Pajdla. Inverse Kinematics for a General 6R Manipulator. CTUCMP?201329. 2013.
Algebraicnumeric solution to Inverse kinematic task of a 6R manipulator.
ftp://cmp.felk.cvut.cz/pub/cmp/articles/meloun/MelounTR201329.pdf
T. Pajdla. Elements of Geometry for Robotics. 2014.
Geometry and representation of motion.
Available in PDF: cmp.felk.cvut.cz/cmp/courses/PRO/2014/Lecture/PRO2014Lecture.pdf
 Note:
 Further information:
 http://cw.fel.cvut.cz/wiki/courses/pro
 Timetable for winter semester 2019/2020:

06:00–08:0008:00–10:0010:00–12:0012:00–14:0014:00–16:0016:00–18:0018:00–20:0020:00–22:0022:00–24:00
Mon Tue Fri Thu Fri  Timetable for summer semester 2019/2020:
 Timetable is not available yet
 The course is a part of the following study plans:

 Cybernetics and Robotics  Cybernetics and Robotics (compulsory elective course)
 Cybernetics and Robotics  Robotics (compulsory course of the specialization)
 Cybernetics and Robotics  Senzors and Instrumention (compulsory elective course)
 Cybernetics and Robotics  Systems and Control (compulsory elective course)
 Cybernetics and Robotics  Aerospace Systems (compulsory elective course)