Robotics

The course is a substitute for:

Robotics (33ROB)

Lecturer:

Vladimír Smutný (gar.)

Tutor:

Vladimír Smutný (gar.), Petr Gronát, Pavel Krsek

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:

Delivery of all home assignments,

delivery of final report of practical assignment, demonstration of function of practical assignment.

Syllabus of lectures:

1. Robotics, industrial robot and application areas.

2. Geometry in robotics, terminology, number of degrees of freedom (DOF), structure of the manipulator.

3. Coordinate systems, transformation of coordinates.

4. Kinematics of a serial and paralel robot, joint and Cartesian coordinates, direct and inverse kinematics problems.

5. Representation of rotation and translation in the space.

6. Denavit-Hartenberg convention.

7. Inverse kinematics problem and its solution for the robot with 6 DOF and spherical joint.

8. Differential kinematics. Jacobian of the manipulator.

9. Statics of the robot.

10. Singular states of the robot.

11. Precision and repeatibility of a robot.

12. Actuators and sensors of robots.

13. Analysis of a robotic problem and its solution with a robot.

14. Description and calibration of a mechanical system with complex geometry.

Syllabus of tutorials:

Part of the labs is dedicated to solution of the direct and inverse kinematics of several robots, from simple ones to the 6-DOF robots.

During rest of labs pairs of students solve practical exercise with the robots in the lab.

1. Introduction to laboratory assignments, MATLAB, a-test.

2. Correction of the a-test. MATLAB. Assignment 1: Transformations between Cartesian, cylindrical and spherical coordinates.

3. Transformations of coordinates while migrating between coordinate systems. Assignment 2: Transformation of the Cartesian coordinates.

4. Test 1: Transformation of Cartesian coordinates. Assignment 3: Problem on a real robot.

5. Assignment 4: Direct and inverse kinematics of a planar manipulator.

6. Description of a spatial manipulator in Denavit-Hartenberg notation. Assigment 5: Transformation between Euler angles and the rotation matrix.

7. Test 2: Denavit-Hartenberg notation, solution to direct and inverse kinematics problem for the manipulator with 3 DOFs. Assinment 6: Direct and inverse kinematics problem for the manipulator with 3 DOFs.

8. Solution to direct and inverse kinematics problem for a manipulator with 6 DOFs. Assignment 7: Direct and inverse kinematics problem for a manipulator with 6 DOFs.

9. Solving of the Assignment 3 on a real robot.

10. Solving of the Assignment 3 on a real robot in the open lab.

11. Solving of the Assignment 3 on a real robot in the open lab.

12. Solving of the Assignment 3 on a real robot in the open lab.

13. Solving of the Assignment 3 on a real robot in the open lab.

14. Solving of the Assignment 3 on a real robot in the open lab.

Study Objective:

Study materials:

[1] Asada, H., Slotine, J. E.: Robot Analysis and Control. John Wiley and Son, New York, USA, 1986

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

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

[4] Stadler, W.: Analytical Robotics and Mechatronics. McGraw-Hill, 1995

Note:

Further information:

No time-table has been prepared for this course

The course is a part of the following study plans:

• Cybernetics and Measurements- structured studies (compulsory elective course)
• Telecommunications and Radio-engineering - High-frequency and Microwave Technology- structured studi (elective specialized course)
• Heavy-current Engineering - Technological Systems- structured studies (elective specialized course)
• Cybernetics and Measurements - Control Engineering- structured studies (elective specialized course)
• Electronics - Electronic Systems- structured studies (elective specialized course)
• Economics and Management of Power Engineering- structured studies (elective specialized course)
• Biomedical Engineering- structured studies (elective specialized course)
• Economics and Management in Electrical Engineering- structured studies (elective specialized course)
• Electronics - Electronic Applications- structured studies (elective specialized course)
• Electronics - Electronics and Photonics- structured studies (elective specialized course)
• Cybernetics and Measurements - Artificial Intelligence- structured studies (elective specialized course)
• Cybernetics and Measurements - Measurement and Instrumentation Systems- structured studies (elective specialized course)
• Cybernetics and Measurements - Aeronautical Engineering and Control Systems- structured studies (elective specialized course)
• Heavy-current Engineering - Electric Drives- structured studies (elective specialized course)
• Heavy-current Engineering - Electroenergetics- structured studies (elective specialized course)
• Heavy-current Engineering - Electrical Engineering Applications- structured studies (elective specialized course)
• Telecommunications and Radio-engineering - Opto-electric Systems- structured studies (elective specialized course)
• Telecommunications and Radio-engineering - Radio Communications, Navigation and Radar Systems- struc (elective specialized course)
• Telecommunications and Radio-engineering - Multimedia, Sound and Television Technology- structured s (elective specialized course)
• Telecommunications and Radio-engineering - Telecommunications- structured studies (elective specialized course)