Robot Mechanics and Control

Garant předmětu:

Lecturer:

Tutor:

Supervisor:

Department of Mechanics, Biomechanics and Mechatronics

Synopsis:

The aim is to learn how to model and control robots.

•Operational and joint coordinates, forward and inverse problems.

•Matrix description of open chain kinematics.

•Matrix description of closed loop kinematics.

•Solution of inverse and forward kinematic problem, analytically and numerically.

•Kinematically redundant robots, singular cases of robots, workspace.

•Point and path control, trajectory planning, kinematic accuracy.

•Solution of inverse and forward dynamic problems, analytically and numerically.

•Dynamic properties of robot and their description.

•Cascade control.

•Control by computed torques.

•Dynamically redundant robots, cable robots.

•Force control, compliance control, hybrid control.

Requirements:

Syllabus of lectures:

Syllabus of tutorials:

Study Objective:

Study materials:

•Stejskal, V. Valasek, M.: Kinematics and Dynamics of Machinery, Marcel Dekker, New York 1996

•Sciavicco, L., Siciliano, B.: Modelling and Control of Robot Manipulators, Springer, 2000

•Kukula P., Valasek M.: Kinematical Solution by Structural Approximation, In: Kecskeméthy A., Müller A. (eds) Computational Kinematics. Springer 2009, pp. 323-330

•Prochazka, F.; Valasek, M.; Sika, Z.: Robust sliding mode control of redundantly actuated parallel mechanisms with respect to geometric imperfections, Multibody System Dynamics, 36(2016), 3, pp. 221-236

Note:

Further information:

No time-table has been prepared for this course

The course is a part of the following study plans: