| Course Unit Code | 354-0501/02 |
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| Number of ECTS Credits Allocated | 6 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 | Summer 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 | Course succeeds to compulsory courses of previous semester |
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| Name of Lecturer(s) | Personal ID | Name |
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| MOS50 | prof. Dr. Ing. Vladimír Mostýn |
| HUC0018 | Ing. Daniel Huczala, Ph.D. |
| Summary |
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| 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. |
| Learning Outcomes of the Course Unit |
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| The main objective of this subject is to obtain knowledge in area of computing of kinematic and dynamic values of serial kinematic structures of the industrial robots as the basic parameters for the synthesis of the robot control system that is based on the Computed Torque Control principle. During this course the students obtain necessary knowledge for the mechatronic approach to the robot design. |
| Course Contents |
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1. Kinematics of the spatial mechanisms, direct task of kinematics, transformation of coordinates, Denavit-Hartenberg principle.
2. Differential expression of the kinematic equations, application of differential operators.
3. Inverse task of kinematics based on Taylor expansion of the transform matrix.
4. Jacobi matrix and their applications.
5. Inverse task of kinematics based on Newton method of approximation.
6. Optimization methods of inverse kinematic task, heuristic methods.
7. Optimization methods of inverse kinematic task, gradient methods.
8. Trajectory planning, interpolation at the joint level.
9. Newton-Euler method, computing of the angular and translational velocity of the local coordinate system.
10. Newton-Euler method, computing of the angular and translational acceleration of the local coordinate system.
11. Newton-Euler method, computing of the translational velocity and acceleration of the links COG.
12. Newton – Euler method, computing of the loads and generalized forces, equilibrium of the link forces and moments.
13. Computing of the kinetic energy of the links.
14. Computing of the potential energy of the links.
15. Application of the Lagrange equation, direct and inverse task of dynamics.
16. Mechatronic approach to design of robotic systems.
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| Recommended or Required Reading |
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| Required Reading: |
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| Dombre, E., Khalil, W. Robot Manipulators – Modeling, Performance, Analysis and Control. 2007. ISBN-10: 1-905209-10-X |
Mostýn, V. - Skařupa, J. Teorie průmyslových robotů. 1. vydání, Košice: Edice vědecké a odborné literatury – Strojní fakulta TU v Košicích, 2001, 150 stran; ISBN 80-88922-35-6
http://robot.vsb.cz/files/resources/teorie-prumyslovych-robotu.pdf |
| Recommended Reading: |
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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 |
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 |
| 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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| Exercises evaluation and Examination | Credit and Examination | 100 (100) | 51 |
| Exercises evaluation | Credit | 35 | 15 |
| Examination | Examination | 65 | 16 |