Advanced robotics
Code | Completion | Credits | Range | Language |
---|---|---|---|---|
AD3M33PRO | Z,ZK | 6 | 14KP+6KL | Czech |
- Garant předmětu:
- Lecturer:
- Tutor:
- 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: Denavit-Hartenberg 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. Angle-axis parameterization
10. Quaternions
11. Manipulator calibration
12. Summary and review.
- 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:
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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:
- Further information:
- https://cw.felk.cvut.cz/wiki/courses/a3m33pro/start
- No time-table has been prepared for this course
- The course is a part of the following study plans: