| Course Unit Code | 450-4019/02 |
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| Number of ECTS Credits Allocated | 4 ECTS credits |
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| Type of Course Unit * | Optional |
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| Level of Course Unit * | Second Cycle |
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| Year of Study * | |
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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 | English |
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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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| HOR02 | doc. Ing. Bohumil Horák, Ph.D. |
| Summary |
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| Subject is aimed at problematics of description and property of industrial robots and manipulators. To be giving listing theirs structures, observe special functions to their inteligent behaviour conduct. Specially is aimed in field of modeling of robotic systems and methods and means of theirs control. Relate list and principles od special measurements and sensor systems applied in robotic and observe systems for diagnostic of technical state of robotic devices. |
| Learning Outcomes of the Course Unit |
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Target of subject is provide of informations to students from area of machatronic and robototechnic, to they were swing orientate in their mechanical structures, displace suitability their employment in productions processes and design their control systems including application of methodology and resources of artificial intelligence.
After passing the course students have the main knowledge and skills with the field of industrial robotics, principles, methods and tools of robotics and with ability in robotics systems design including the tools of artificial intelligence.
After passing the course students have the main knowledge and skills with the field of industrial robotics, principles, methods and tools of robotics and with ability in robotics systems design including the tools of artificial intelligence. |
| Course Contents |
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Lectures:
Fundamental terms and general principles of robototechnic
Robot as a system, subsystems of industrial robots and manipulators (IRaM), classification of IRaM
Modular, universal and single purpose IraM, applications, principles of classification according to kinematic structure, drives, technological assignation, control systems, concepts of constructions and eventuality of integration in industrial processes.
Kinematic structures of IRaM and their selection for given application, type structures of IRaM, geometrical and kinematical characteristics.
Kinamatic and dynamic analysis. Kinematic structures of robots.
Influences of construction robotic system at his use property.
General structure of control system of robot and manipulator, activity of particular levels of control.
Fundamental level of control, matematical model of kinematics structure and his representation in control unit of robot.
Perception subsystem of IRaM.
Technical devices of control systems of IRaM, logical control, continuous control.
Software devices of control systems IRaM, application of general programming languages, problem oriented languages.
Artifficial intelligence, multi-agents-systems, cooperate productions device.
Technical diagnostic.
Diagnostic systems of robotic and productions systems, methodology of comparing and verification of technical parameters.
Exercises:
Analysis of kinematcs of laboratory robot and positioning accuracy measurement of arm terminal point.
Implementation of supporting electronical devices for guidance of arm of laboratory robot to position. Analysis of effects of different principles of arm guidance.
Effect of robot kinematics to consequential speed and measurement acuracy .
Guidance accuracy, representation of area in robot memory, robot orientation, methods to guidance accuracy heighten and their comparsion.
Robot guidance with ultrasonic guidance system. Guidance accuracy, representation of area in memory of robot, robot orientation.
Robot guidance with visual guidance system.
Visual systems working by 3-D representation of action area, orientation in area, representation of area in apearance database of robot, relationship to knowlwdge database.
Laboratories:
Introduction at laboratory enviroment, security and anti-fire regulations for work in laboratory.
Analysis of kinematcs of laboratory robot and positioning accuracy measurement of arm terminal point.
Implementation of supporting electronical devices for guidance of arm of laboratory robot to position. Analysis of effects of different principles of arm guidance.
Effect of robot kinematics to consequential speed and measurement acuracy .
Guidance accuracy, representation of area in robot memory, robot orientation, methods to guidance accuracy heighten and their comparsion.
Robot guidance with ultrasonic guidance system. Guidance accuracy, representation of area in memory of robot, robot orientation.
Robot guidance with visual guidance system.
Visual systems working by 3-D representation of action area, orientation in area, representation of area in apearance database of robot, relationship to knowlwdge database.
Laboratory part with model of mobile robot VIMR - analysis of mobile subsystem.
Laboratory part with model of mobile robot VIMR - analysis of orientation subsystem
Laboratory part with model of mobile robot VIMR - abidance of motion trajectory.
Laboratory part with model of mobile robot VIMR - subsystem of command transmission
Laboratory part with model of mobile robot VIMR - microcontroler board systém
Laboratory part with model of mobile robot VIMR - hierarchical system of control
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| Recommended or Required Reading |
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| Required Reading: |
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H. Dahlhoff, H., Götz, F., Hohenburg, H., Schulé, R., Spielmann, F.: Fundamentals of robotics, Edition 1993 (at www.festo-didactic.com)
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Horák, B.,J.Kazárik, T.Otáhalová, O.Balak a K.Friedrischková. Průmyslová robotika, učební text a návody do cvičení. VŠB-TU Ostrava, 2012.
Chvála, B., Matička, R., Talácko, J.: Průmyslové roboty a manipulátory, SNTL Praha,1991 ISBN 80-03-00567-1
Novák, P.: Mobilní roboty, BEN Technická literatura, Praha 2005, ISBN80-7300-141-1
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| Recommended Reading: |
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| Handbook of Industrial Robotics. edited by Shimon Y. Nof, John Wiley & Sons; 2nd edition (February 16, 1999), ISBN 0-471-17783-0 |
| Horák,B.:Průmyslová robotika. Sylaby na WWW stránkách katedry,2002 |
| Planned learning activities and teaching methods |
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| Lectures, Individual consultations, Experimental work in labs, Project work |
| Assesment methods and criteria |
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| Tasks are not Defined |