1. SylabUZ
2. Wydział Informatyki, Elektrotechniki i Automatyki
3. semestr zimowy 2020/2021
4. Automatyka i robotyka - Program Erasmus pierwszego stopnia
5. Fundamentals of robotics

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Fundamentals of robotics - opis przedmiotu

Cel przedmiotu

• To provide fundamental knowledge in subject of analysis, control and motion planning for modern industrial robotic systems.

• To develop skills in proper robot selection and evaluation for industrial process automation.

Wymagania wstępne

Zapisz zmiany

Modeling and simulation, Signals and dynamic systems, Control engineering

Zakres tematyczny

Introduction. Historical outline. Overview of robotic mechanical systems. Tasks performed by robots. Categories of manipulators and robots. Basic components of industrial robots. Grippers. A robot as part of a control system. Structures of manipulators and robots.  Linear transformations. Rigid-body rotations.
Coordinate transformations and homogeneous coordinates. Degrees of freedom.   .
Kinematics. Kinematic relationships of a manipulator. Link description. Link connections. Forward kinematics. Denavit-Hartenberg parameters. Inverse kinematics. Jacobians.
Dynamics. Joint-space dynamics. Euler-Lagrange equations. Equations of motion. Newton-Euler formalism. Dynamics of a rigid manipulator. Simulation of dynamics.
Trajectory generation. Trajectory planning in configuration space. Cartesian planning. Geometrical problems. Real-time trajectory generation. Trajectory planning using a dynamic model. Collision-free trajectory planning.
Robotic drives. Hydraulic drives. Pneumatic drives. Electric drives.
Robotic sensors. Processing information from sensors. Computer vision. Stereo-based reconstruction.
Applications of robots in industry. Welding applications. Spray painting applications. Assembly operations. Palletizing and material handling. Dispensing operations. Laboratory applications. Work cells.
Wheeled mobile robots. Forward and inverse kinematics of mobile robots. Perception: sensors, representation of uncertainty, feature extraction. Self-localization.
Other applications of robots. Humanoids. Entertainment robots. Medical robots. Exosceletons. Military and police robots.

Metody kształcenia

Lecture. Laboratory exercises

Efekty uczenia się i metody weryfikacji osiągania efektów uczenia się

Opis efektu	Symbole efektów	Metody weryfikacji	Forma zajęć

Warunki zaliczenia

Lecture – the main condition to get a pass  are sufficient marks in written or oral tests conducted at least once per semester.

Laboratory – the passing condition is to obtain positive marks from all laboratory exercises to be planned during the semester.

Calculation of the final grade: lecture 50% + laboratory 50%

Literatura podstawowa

1. Spong M. V., Hutchinson S., Vidyasagar M..: Robot Modeling and Control, Wiley, Hoboken, NJ, 2006
2. Craig J.J.: Introduction to Robotics. Mechanics and Control, 3^rd Edn., Prentice Hall, Englewood Cliffs, NJ, 2004
3. Corke P.: Robotics, Vision and Control, Springer, 2011

Literatura uzupełniająca

Uwagi

Zmodyfikowane przez dr hab. inż. Maciej Patan, prof. UZ (ostatnia modyfikacja: 28-04-2020 09:59)