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Course aims
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The teaching /learning aims are following:
- to develop an understanding of robots as
universal machines to help people work in abnormal or dangerous conditions or
to expand limits of human cognition;
- to deepen an understanding of connections
between different areas of engineering like mechanical and electrical
engineering, informatics, and integration of knowledge in robotics and
industry automation;
- to develop knowledge for a system
integrator, like analysis and comparison of competitive solutions and skills
for targeted use of robots and robot systems;
- to develop awareness of ethical problems of
modern robotics development.
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Learning outcomes in the course
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A student shall acquire:
- knowledge of historical developments of
robots as universal machines and automata and skills of their classification
on the basis of design, application field or level of a control system;
- knowledge about the construction of robot manipulators
and design and control principles of robot’s control systems; skills to
describe mathematically kinematics tasks of robots;
- knowledge about components used in robotics
and skills to select and apply needed components for the composition of a
robot manipulator or a control system;
- skills to calculate the load of robot
drives and to select and apply a motor or a control unit required in a robot
drive;
- skills to program and use industrial robots
for automation of production processes;
- knowledge about software packages of
virtual robotics and skills to use them for the development of new robot
systems.
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Brief description of the course
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Robotics as the part of bionics. Nature and
applications of the bionics. Nature and construction of robots. Control
functions of the robots. Mathematical modelling of manipulators. Model-based
control of robots. Construction of manipulators: series and parallel link
kinematics of manipulators, co-ordinate systems of the robots, position,
velocity and acceleration vectors of robots, co-ordinate transformation,
direct and reverse kinematical transformations, trajectory planning and
motion control functions, transportation, transferring and orientation of
work pieces. Robot’s drives: pneumatic, hydraulic and electric drives, drives
structure and components, drive controllers, digital control of drives,
digital regulators and filters, load and motor characteristics, flexibility,
backlash, friction and compliance effects in drive control, drive motors,
converters and sensors, energy consumption of drives. Control systems of
robots: software for drive control, programming and teaching of robots,
programming languages, robots in flexible manufacturing systems (FMS), higher
levels in control hierarchy of robots, man-machine interface (MMI), fuzzy
logic control of robots, shape and object identification and recognition,
environment perception, intellectual control of robots. Etichal and social
aspects of bionics and robotics.
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Content of lectures
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1) Introduction to robotics.
2) Frames in robotics.
3) Manipulators kinematics.
4) Robots statics.
5) Dynamics of robots.
6) Control system of robots.
7) Software of robots.
8) Sensors of robots.
9) Actuators of robots.
10) Robot tools.
11) Robotic communication platforms.
12) Fundamentals of mobile robotics.
13) Mobile robots. Positioning, runaway
planning, navigation.
14) Artificial intelligence in robotics.
15) Robot models and coordinate transforms.
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