Robotics

Vztahy:

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

During a review of study plans, the course B3B33ROB can be substituted for the course B3B33ROB1.

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

Garant předmětu:

Vladimír Petrík

Lecturer:

Vladimír Petrík

Tutor:

David Kovář, Pavel Krsek, Vladimír Petrík, Vladimír Smutný

Supervisor:

Department of Cybernetics

Synopsis:

Requirements:

Linear algebra, calculus basics, geometry, physics and Python programming in the span of bachelor program KyR.

Syllabus of lectures:

1. Configuration space and motion representation

2. Direct kinematics of open kinematic chains

3. Differential kinematics and statics

4. Inverse kinematics

5. Fundamentals of vision in robotics

6. Path and trajectory generation

7. Motion planning

8. Closed kinematic chains

9. Robot dynamics and control methods

10. Advanced robot control methods

11. Collaborative robots

12. Task and motion planning for manipulation

13. - 14. Introduction to Artificial Intelligence in Robotics

Syllabus of tutorials:

1. Introduction of the structure of the robotic toolbox in Python and automatic testing/scoring, implementation of transformations in SE2/SE3

2. Implementation of a direct kinematic task for a planar manipulator and demonstration of the visualization tool in the toolbox

3. Calculating the Jacobian for a planar robot numerically and analytically

4. Solution of inverse kinematics

5. Transformation between camera and robot, demonstration of homography and calibration

6. Path interpolation for object grasping, selection of appropriate configuration

7. Motion planning

8. Demonstration of working with robots in the lab, safety of working with robots. Exercise is conducted in JP-B-415 for robots.

9. Consultation for term papers.

10. Consultation for term papers.

11. Dynamic control of robots.

12. Consultation for term papers.

13. Consultation for term papers.

14. Submission of term papers.

Study Objective:

The course is an introduction to robotic manipulation and its aim is to introduce students to typical tasks that need to be solved before deploying robots in real operation. Such a task is, for example, finding the trajectory of a welding robot so that it follows a specified edge of the component to be welded during its tool movement while keeping its body from hitting obstacles in its environment. The main part of the course is devoted to the kinematic description of the robotic manipulator and the solution of the corresponding kinematic problems: solution of the direct/inverse kinematic problem, motion planning and trajectory calculation. However, the dynamic description of manipulators and their control methods are also shown using simple examples. Finally, simple applications of machine learning methods for manipulator robotics are demonstrated. As part of the exercise, students will program a toolbox for manipulation robotics, which they will then use to solve a term paper on industrial robots.

Study materials:

* Lynch, Kevin M., and Frank C. Park. 2017. Modern Robotics. Cambridge University Press. Free preprint available at http://hades.mech.northwestern.edu/index.php/Modern_Robotics, including accompanying software and videos.

* Study materials published by the teachers at the course web page.

Note:

Further information:

https://cw.fel.cvut.cz/wiki/courses/b3b33rob1/start

Time-table for winter semester 2024/2025:

	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-107 Petrík V. 12:45–14:15 (lecture parallel1) Karlovo nám. Zengerova posluchárna K1
Tue	roomKN:E-132 12:45–14:15 (lecture parallel1 parallel nr.101) Karlovo nám. Laboratoř PCroomKN:E-132 14:30–16:00 (lecture parallel1 parallel nr.102) Karlovo nám. Laboratoř PC roomJP:B-415 12:45–14:15 (lecture parallel1 parallel nr.101) Jugoslávských partyzánů 3roomJP:B-415 14:30–16:00 (lecture parallel1 parallel nr.102) Jugoslávských partyzánů 3
Wed	roomKN:E-132 14:30–16:00 (lecture parallel1 parallel nr.103) Karlovo nám. Laboratoř PCroomKN:E-132 16:15–17:45 (lecture parallel1 parallel nr.104) Karlovo nám. Laboratoř PC roomJP:B-415 14:30–16:00 (lecture parallel1 parallel nr.103) Jugoslávských partyzánů 3roomJP:B-415 16:15–17:45 (lecture parallel1 parallel nr.104) Jugoslávských partyzánů 3
Thu
Fri

Time-table for summer semester 2024/2025:

Time-table is not available yet

The course is a part of the following study plans:

• Cybernetics and Robotics 2016 (compulsory course in the program)