Robotics

It is not possible to register for the course B3B33ROB if the student is concurrently registered for or has already completed the course A3B33ROB (mutually exclusive courses).

In order to register for the course B3B33ROB, the student must have registered for the required number of courses in the group BEZBM no later than in the same semester.

It is not possible to register for the course B3B33ROB if the student is concurrently registered for or has already completed the course B3B33ROB1 (mutually exclusive courses).

It is not possible to register for the course B3B33ROB if the student is concurrently registered for or has previously completed the course A3B33ROB (mutually exclusive courses).

It is not possible to register for the course B3B33ROB if the student is concurrently registered for or has previously completed the course B3B33ROB1 (mutually exclusive courses).

The requirement for course B3B33ROB can be fulfilled by substitution with the course B3B33ROB1.

Garant předmětu:

Lecturer:

Tutor:

Supervisor:

Department of Cybernetics

Synopsis:

The course is an introduction into industrial robotics with the emphasis on the industrial robots and manipulators. The robot kinematics is thoroughly studied. The student shall be able to choose, design, and program industrial robot and integrate it into the robotic cell after passing the course.

Requirements:

Linear algebra, calculus basics, geometry and physics in the span of KYR bachelor program. Literature of these courses.

Syllabus of lectures:

1. Robotics, the field, an industrial robot

2. Robot geometry, terminology, number of degrees of freedom (DOF), manipulator structure.

3. Coordinate systems, coordinate system transformation.

4. Rotation and translation representation. Quaternions.

5. Serial and parallel robot kinematics, joint and cartesian coordinates. Forward and inverse kinematics.

6. Denavit-Hartenberg notation.

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

8. Diferential kinematics, manipulator jacobian. manipulator singularities.

9. Accuracy and repeatability in robotics. Statics of the robot.

10. Electrical drives for robots.

11. Hydraulic a pneumatic drives of robots.

12. Industrial robot control. Feedback in robotics.

13. Forward and inverse robot dynamics.

14. Kinematics of robotic cell, example.

Syllabus of tutorials:

The laboratories will consist of simple practical assignment on the manipulator in laboratory as well as home assignments where programs and accompanying reports will be evaluated. The interactive labs will explain the methods to be used and discuss the questions or problems arising during assignments solving.

Study Objective:

The goal of the course is to introduce industrial robots and manipulators, their design, kinematics, statics, and control. The course is designed for future experts who will be able to control robot, design its electronics, and consult kinematical design. The ability to implement geometry of the robot in programming language is emphasized.

Study materials:

Reza N. Jazar: Theory of Applied Robotics: Kinematics, Dynamics, and Control, 2010, ISBN-13: 978-1441917492

Note:

Further information:

https://cw.fel.cvut.cz/wiki/courses/B3B33ROB

No time-table has been prepared for this course

The course is a part of the following study plans:

• Cybernetics and Robotics 2016 (compulsory course in the program)
• Medical electronics and bioinformatics (compulsory elective course)