Objectives and competences
The objective of this course is to acquaint with robotics to undestand its basics and to give knowledge to master robot programming and to collaborate in the projects of robotization.
Content (Syllabus outline)
• Introduction: history of robots, aims, viewpoints, and references. Robotics systems: controller, mechanism, robotic task, and working space. Mechanism theory fundamentals: kinematics chains, minimum configuration, and singularities. Geometric modelling: coordinate systems, transformations, and the Denavit-Hartenberg method. Different parametrization of rotation. Forward and inverse kinematic modeling. Trajectory generation: task description, velocity profiles, and interpolation algorithms. Robot control and safety: hard and software, control hierarchy, and reliability. Programming: robot teaching, textual programming, and languages. Robot dynamics: kinematics and dynamics, properties, and control. Robot performance: technical data, experiments, and measurements Grippers and tools: manipulation, grasping, pushing, welding, etc. Robotisation sensors: joint sensors, task sensors, and computer vision. Robotics: technical, economic, and social aims.
Learning and teaching methods
• lectures,
• seminar exercises,
• lab. work.
Intended learning outcomes - knowledge and understanding
understand the meaning of robotic manipulation,
to program the robot tasks,
design the robot cells,
evaluate the achieved performances.
Intended learning outcomes - transferable/key skills and other attributes
• Communication skills: writing the technical report.
• Use of information technology: for robotics.
• Calculation skills: problems of robotic kinematic simulations.
• Problem solving: in robotics.
• Working in a group: lab. experimental work.
Readings
• M. W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling and Control, Wiley, Hoboken, 2006.
• J.J. Craig: “Introduction to Robotics – Mechanics and Control”, Third edition, Pearson Education, 2005.
• T. Bajd, M. Mihelj, J.Lenarčič, A. Stanovnik, M. Munih: „Robotika“, FE Ljubljana, 2008.
• J. Lenarčič, T. Bajd: Robotski mehanizmi, UL, Fakulteta za elektrotehniko, Ljubljana, 2003.
Prerequisits
Recommended basic knowledge of physics , math and computer engineering.
Additional information on implementation and assessment The written exam may be replaced by midterm exams.
