| Course Unit Code | 354-0625/01 |
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| Number of ECTS Credits Allocated | 2 ECTS credits |
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| Type of Course Unit * | Compulsory |
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| Level of Course Unit * | Second Cycle |
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| Year of Study * | First Year |
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| Semester when the Course Unit is delivered | Winter Semester |
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| Mode of Delivery | Face-to-face |
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| Language of Instruction | Czech |
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| Prerequisites and Co-Requisites | There are no prerequisites or co-requisites for this course unit |
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| Name of Lecturer(s) | Personal ID | Name |
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| BOB0001 | prof. Ing. Zdenko Bobovský, PhD. |
| VYS0016 | doc. Ing. Aleš Vysocký, Ph.D. |
| Summary |
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| In this course, students will learn the methods of calculating mechanical quantities of industrial robots and manipulators. |
| Learning Outcomes of the Course Unit |
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| In this course, students will learn the methods of calculating mechanical quantities of industrial robots and manipulators. He / She gain practical experience in the calculation of mechanical quantities. |
| Course Contents |
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1. Description of spatial objects
2. Kinematics of manipulators I.
3. Kinematics of manipulators II.
4. Inverse role of kinematics I.
5. Inverse role of kinematics II.
6. Jacobian matrix I.
7. Jacobian matrix II.
8. Dynamics of manipulators I.
9. Dynamics of manipulators II.
10. Dynamics of manipulators III.
11. Generation of trajectories I.
12. Generation of trajectories II.
13. Motion planning I.
14. Motion planning II. |
| Recommended or Required Reading |
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| Required Reading: |
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[1] John J. Craig, Introduction to Robotics: Mechanics and Control, Pearson/Prentice Hall, 2005 - Technology & Engineering, ISBN 978-0201543612
[2] Gregory L. Long, Fundamentals of Robot Mechanics, Quintus-Hyperion Press, 2015 - Technology & Engineering, ISBN 978-0-9861094-1-6
[3] Hamid D. Taghirad, Parallel Robots: Mechanics and Control, CRC Press, Feb 20, 2013 - Technology & Engineering, ISBN 978-1138077386 |
[1] Brát, V. Maticové metody v analýze a syntéze prostorových vázaných mechanických systémů. Praha:ACADEMIA, 1981
[2] Mostýn, V. Modelování a analýza konstrukcí robotů II. 1.vyd. Ostrava: skripta VŠB TUO, 2002. 111 stran; ISBN 80-248-0022-5
[3] John J. Craig, Introduction to Robotics: Mechanics and Control, Pearson/Prentice Hall, 2005 - Technology & Engineering, ISBN 978-0201543612
[4] Gregory L. Long, Fundamentals of Robot Mechanics, Quintus-Hyperion Press, 2015 - Technology & Engineering, ISBN 978-0-9861094-1-6
[5] Hamid D. Taghirad, Parallel Robots: Mechanics and Control, CRC Press, Feb 20, 2013 - Technology & Engineering, ISBN 978-1138077386 |
| Recommended Reading: |
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| [1] Lung-Wen Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, Feb 22, 1999 - Technology & Engineering, ISBN 978-0471325932 |
| [1] Lung-Wen Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, Feb 22, 1999 - Technology & Engineering, ISBN 978-0471325932 |
| Planned learning activities and teaching methods |
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| Lectures, Tutorials, Project work |
| Assesment methods and criteria |
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| Task Title | Task Type | Maximum Number of Points
(Act. for Subtasks) | Minimum Number of Points for Task Passing |
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| Credit and Examination | Credit and Examination | 100 (100) | 51 |
| Credit | Credit | 35 | 15 |
| Examination | Examination | 65 | 36 |