Title:

Industrial Robotics

Code:QA7
Ac.Year:ukončen 2003/2004 (Not opened)
Sem:Summer
Language of Instruction:Czech
Completion:examination (written&verbal)
Type of
instruction:
Hour/semLecturesSeminar
Exercises
Laboratory
Exercises
Computer
Exercises
Other
Hours:390000
 ExamsTestsExercisesLaboratoriesOther
Points:1000000
Guarantor:Šolc František, doc. Ing., CSc. (DAME)
Lecturer:Šolc František, doc. Ing., CSc. (DAME)
Faculty:Faculty of Electrical Engineering and Communication BUT
Department:Department of Control and Instrumentation FEEC BUT
 
Learning objectives:
  To develop the students understanding of advanced industrial robotics. To introduce the students to advanced methods of robot control including control of mobile robots.
Description:
  Industrial robots. Kinematic and dynamics of robots. Sensors and drives for robots. Control of industrial robots. Mobile robots and their control.
Learning outcomes and competencies:
  Students acquire knowledge of advanced control methods of industrial robots. They acquire also knowledge of control methods of mobile robots, and future trends in the area.
Syllabus of lectures:
 
  1. Robotics, components and structure of robots.
  2. Rigid motions and homogeneous transformation.
  3. Forward kinematics.The Denavit-Hartenberg representation.
  4. Inverse kinematics. Velocity kinematics.
  5. Dynamics. Euler-lagrange equations.
  6. Actuators. Advanced actuators.
  7. Sensors. Smart sensors.
  8. Independent joint control. Computed-Torque control
  9. Robust control.
  10. Adaptive control.
  11. Force control.
  12. Control of nonholonomic systems.
  13. Feedback linearization.
Progress assessment:
  doctoral course: discussions
 

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