| Course Unit Code | 450-2093/02 |
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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 * | First Cycle |
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| Year of Study * | |
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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 | 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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| HER215 | Ing. Radim Hercík, Ph.D. |
| Summary |
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| The subject is focused on historical development, basic description of structures, topologies, subsystems and properties of industrial robots and manipulators. It provides overview and classification of mechanical constructions, motion, control and sensor subsystems. It describes their current application in production, the structure of workplaces, significant parameters, economic efficiency and perspectives and social aspects of deployment. In the practical part of laboratory measurements it deals with programming-modeling and control of industrial robot movements in basic tasks. |
| Learning Outcomes of the Course Unit |
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| The aim of the course is to provide students with basic information in the field of mechanization and automation of production machines, industrial robotics and robot technology. After studying the module the student should be able to describe basic principles of function, construction and operation of industrial robots, their subsystems and structural elements. He should be able to design a robot / robot control system, program it and incorporate it into a robotic cell. |
| Course Contents |
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Lectures:
1. Introduction to industrial robotics.
2. Industrial robots, cobots, manipulators - introduction.
3. Industrial robots, types, design and applications.
4. PRaM functional groups, PRaM structure, coordinate systems, coordinate transformations, rotation and translation representation, homogeneous coordinates.
5. PRaM kinematic structures, object trajectory, trajectory correction, positioning accuracy/repeatability, PRaM statics, object orientation, direct/inverse kinematic problem, differential kinematics, singular robot states, kinematic description of a practical robotic workstation (example).
6. Effect of actuator on layout, design and technological constraints, examples of positioning mechanisms.
7. PRaM actuators - external/internal actuators, actuator transformation block, electrical actuators, hydraulic actuators, pneumatic actuators, combined actuators, determination of actuator parameters.
8. PRaM output heads, gripper/technology, mechanical, vacuum, magnetic, special.
9. Application of PRaM in production, structure of workplaces with PRaM, PRaM parameters, economic efficiency of PRaM deployment, perspectives and social aspects of PRaM deployment.
10. Industrial robotics in the concept of Industry 4.0 initiative.
11. Linking industrial and mobile robotics with control systems.
12. Summary of key information on industrial and mobile robotics.
Exercise:
1. Safety training, organization of exercises.
2. Industrial line demonstration, functions of industrial and mobile robots.
3. Industrial robots Kuka, construction, basic control.
4. Kuka industrial robots, working with SmartPad, manual control (jogging).
5. Kuka industrial robots programming basics.
6. Creating a demonstration application with a Kuka industrial robot.
7. Design of a mobile robot, basics of control and navigation.
8. Controlling the mobile robot MiR in manual mode.
9. Fundamentals of programming mobile robots, creating a demonstration robot mission.
10. Work on a semester project.
11. Work on a semester project.
12. Defence of the semester project, credit.
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| Recommended or Required Reading |
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| Required Reading: |
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| Jazar, R., N.: Theory of Applied Robotics: Kinematics, Dynamics, and Control, Springer 2010 ISBN 978-1441917492 |
| Horák, B., Kazárik, J., Otáhalová, T., Balak, O., Friedrischková, K.: Průmyslová robotika. Učební text. VŠB-TU Ostrava, 2012. |
| Recommended Reading: |
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| Hunt, V.D.: Industrial robotics handbook. Industrial Press, NY 1981 ISBN 0-8311-1148-8 |
Skařupa,J.: Průmyslové roboty a manipulátory. Učební text. Studijní materiály FS VŠB-TUO. Ostrava, 2007 ISBN 978-80-248-1522-0
Chvála, B., Matička, R., Talácko, J.: Průmyslové roboty a manipulátory, SNTL Praha, 1991 ISBN 80-03-00567-1
Hunt, V.D.: Industrial robotics handbook. Industrial Press, NY 1981 ISBN 0-8311-1148-8
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| Planned learning activities and teaching methods |
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| Lectures, Individual consultations, Experimental work in labs, Project work, Other activities |
| Assesment methods and criteria |
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| Tasks are not Defined |