Advanced robotics
Code  Completion  Credits  Range  Language 

A3M33PRO  Z,ZK  6  2P+2L  Czech 
 Vztahy:
 It is not possible to register for the course A3M33PRO if the student is concurrently registered for or has previously completed the course BE3M33PRO (mutually exclusive courses).
 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: DenavitHartenberg 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. Angleaxis parameterization
10. Quaternions
11. Manipulator calibration
12. Summary and review.
 Syllabus of tutorials:

1. Introduction to laboratory, Maple, atest.
2. Correcting atest, Maple.
3. Spatial rotations, representations, axis of motion.
4. Modified DenavitHartenberg 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. WileyInterscience, 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:
 http://cw.felk.cvut.cz/doku.php/courses/a3m33pro/start
 No timetable has been prepared for this course
 The course is a part of the following study plans: