CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2021/2022

# Robotics

Code Completion Credits Range Language
B3B33ROB Z,ZK 5 2P+2L Czech
Corequisite:
The course cannot be taken simultaneously with:
Robotics (A3B33ROB)
Robotics (B3B33ROB1)
Lecturer:
Vladimír Smutný (guarantor), Vladimír Petrík
Tutor:
Vladimír Smutný (guarantor), Tomáš Jochman, Pavel Krsek, Vladimír Petrík, David Woller
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
Time-table for winter semester 2021/2022:
 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 roomKN:E-107Smutný V.Petrík V.12:45–14:15(lecture parallel1)Karlovo nám.Zengerova posluchárna K1 roomJP:B-415Smutný V.Krsek P.12:45–14:15(lecture parallel1parallel nr.101)Jugoslávských partyzánů 3roomJP:B-415Smutný V.Krsek P.14:30–16:00(lecture parallel1parallel nr.102)Jugoslávských partyzánů 3 roomKN:E-132Smutný V.Krsek P.12:45–14:15(lecture parallel1parallel nr.101)Karlovo nám.Laboratoř PCroomKN:E-132Smutný V.Krsek P.14:30–16:00(lecture parallel1parallel nr.102)Karlovo nám.Laboratoř PC roomJP:B-415Smutný V.Krsek P.14:30–16:00(lecture parallel1parallel nr.103)Jugoslávských partyzánů 3roomKN:E-132Smutný V.Krsek P.18:00–19:30(lecture parallel1parallel nr.105)Karlovo nám.Laboratoř PC roomKN:E-132Smutný V.Krsek P.14:30–16:00(lecture parallel1parallel nr.103)Karlovo nám.Laboratoř PCroomJP:B-415Smutný V.Krsek P.18:00–19:30(lecture parallel1parallel nr.105)Jugoslávských partyzánů 3 roomJP:B-415Smutný V.Krsek P.16:15–17:45(lecture parallel1parallel nr.104)Jugoslávských partyzánů 3 roomKN:E-132Smutný V.Krsek P.16:15–17:45(lecture parallel1parallel nr.104)Karlovo nám.Laboratoř PC
Time-table for summer semester 2021/2022:
Time-table is not available yet
The course is a part of the following study plans:
Data valid to 2022-08-08
For updated information see http://bilakniha.cvut.cz/en/predmet4674406.html