Robotics

The course is a substitute for:

Robotics (XE33ROB)

Lecturer:

Tutor:

Supervisor:

Department of Cybernetics

Synopsis:

The course will introduce students to robotics understood as building, controlling, and using complex mechanical machines. The industrial robots and manipulators, their (direct, inverse and differential) kinematics and statics are studied. The actuators and grippers are overviewed. The properties of sensors for both manipulators and mobile robots (robot location and orientation in the environment) are analyzed. Robotics in context to industrial automation is considered. The knowledge gained can be directly applied to design of complex machines with computer controlled motion of their parts. The basic mathematical tool are transformations in homogeneous coordinates.

Requirements:

Syllabus of lectures:

1. Robots and other machines, asks of theoretical and industrial robotics

2. Direct kinematics, Denavit-Hartenberg notation

3. Mechanics of robots. Kinematic mechanism

4. Inverse kinematics

5. Differential kinematic

6. Robots and statics. Application of control theory to robots

7. Mixed and parallel manipulators

8. Mobile robots, kinematics

9. Robot control systems and their programming

10.Actuators for robotics. Grippers and simple solutions to solve manipulation tasks

11.Survey of sensors for robotics and understanding their information

12.Sensors for mobile robots

13.Robot applications. Flexible manufacturing. Control hierarchy

14.Examples of practical applications. Methodology of a development task

Syllabus of tutorials:

1. - 14. Groups of two students each solve one practical laboratory project during the whole semester. Students come to the lab according to the flexible schedule as the equipment is unique. The project changes each semester and consists of solution to inverse kinematic task for a specific robot for specific task, e.g. an assembly task.

Students write initial specification, persuade their instructors that their approach is feasible, solve the task with the help of instructors, perform practical experiments, write a report describing solution and defend their approach and report.

Study Objective:

Study materials:

[1] McKerrow, P.: Introduction to Robotics. Addison-Wesley, Reading, Mass., USA, 1991

[2] Haruhiko Asada and Jean-Jasques E.Slotine: Robot Analysis and Control. John Wiley and Son, New York, USA, 1986. CMP.book.B168

[3] Phillip John McKerrow: Introduction to Robotics. Addison-Wesley, 1991. CMP.book.B52

[4] Wolfram Stadler: Analytical Robotics and Mechatronics. McGraw-Hill, 1995. CMP.book.B70

[5] Lung-Wen Tsai: Robot Analysis: The Mechanics of Serial and Parallel Manipulators. John Wiley, New York, USA, 1999. CMP.book.B203

Note:

Further information:

No time-table has been prepared for this course

The course is a part of the following study plans: