The course deals with methodics of the mechatronic approach to the design of industrial robots and manipulators. The main attention is paid to kinematic and dynamic analysis of the robot mechanisms and mathematic modeling of the individual subsystems – mechanical, drive and control subsystem, modeling of their main parameters and also to possibilities of the connection of the all subsystems into one simulation model. The individual subsystems are modeled using CAD system Pro/Engineer and simulating systems MSC Adams and Matlab.
Literature
Dombre, E., Khalil, W. Robot Manipulators – Modeling, Performance, Analysis and Control. 2007. ISBN-10: 1-905209-10-X
Advised literature
Brát, V. Maticové metody v analýze a syntéze prostorových vázaných
mechanických systémů. Praha:ACADEMIA, 1981
Frolov,K.V.- Voroběv,E.I. Mechanika promyšlennych robotov, Kinematika i
dinamika. Moskva, 1988
Mostýn, V. Modelování a analýza konstrukcí robotů II. 1.vyd. Ostrava:
skripta VŠB TUO, 2002. 111 stran; ISBN 80-248-0022-5