Robot Mechanics and Control

Course guarantor:

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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:

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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: