Robotics for Biomedical Ingeneering

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:

Presentation of the specification, final report and running robot to

teachers, presentation of project results to other students.

Syllabus of lectures:

1. Robots and other machines with higher degree of autonomy

2. Tasks of theoretical and industrial robotics

3. Mechanics of robots. Kinematic mechanism

4. Direct kinematics

5. Inverse kinematic task

6. Differential kinematics

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

8. Mixed and parallel manipulators

9. Robot control systems and their programming

10. Actuators for robotics. Grippers and simple solutions of manipulation

tasks

11. Survey of sensors for robotics

12. Advanced sensors and understanding their information

13. Robot applications. Flexible manufacturing. Control hierarchy

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

Syllabus of tutorials:

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.

1. Introduction, project definition, safety rules

2. Work on the project, consultations

3. Work on the project, consultations

4. Work on the project, consultations

5. Work on the project, consultations

6. Presentation of the specification to the teachers

7. Work on the project, consultations

8. Work on the project, consultations

9. Work on the project, consultations

10. Work on the project, consultations

11. Work on the project, consultations

13. Presentation of the final report and running robot to teachers

14. Presentation of the project results to other students

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: