Advanced robotics

Lecturer:

Tomáš Pajdla (gar.), Zuzana Kúkelová, Vladimír Smutný

Tutor:

Tomáš Pajdla (gar.), Michal Havlena

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.

13. Solving the identification task.

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:

Time-table for winter semester 2011/2012:

	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	roomKN:E-127 Pajdla T. 11:00–12:30 (lecture parallel1) Karlovo nám. Kotkova cvičebna K4roomKN:E-220 Havlena M. Pajdla T. 12:45–14:15 (lecture parallel1 parallel nr.101) Karlovo nám. Laboratoř BIO
Tue
Fri
Thu
Fri

Time-table for summer semester 2011/2012:

Time-table is not available yet

The course is a part of the following study plans:

• Kybernetika a robotika - Robotika (compulsory course of the specialization)