Robotics

Higher education teachers: Mihelj Matjaž
Collaborators: Podobnik Janez, Rejc Jure

Subject description

Prerequisits:

• Enrollment in the second year.

Content (Syllabus outline):

Introduction (degrees of freedom, robotic manipulator, robot arms, introduction of robots in industrial processes). Homogeneous transformation matrix (translation, rotation, pose and displacement). Geometric model of robot manipulator. Two-segment robotic manipulator (kinematics, workspace, dynamics). Robotic sensors. Robot control (trajectory planning, position control, force control).

Objectives and competences:

Course Robotics gives an overview over the entire field of robotics. Topics are selected according to the needs of engineers who introduce or maintain robotic cells or production lines in industry. In the theoretical part of the course students learn the geometric model of the robot, which is essential for programming robots. In the practical part of the course, students in small groups learn programming of industrial robots.

Intended learning outcomes:

Knowledge and understanding: Knowledge of pose description with homogeneous transformation matrices, knowledge of geometric models of robot mechanisms, knowledge of control schemes that are specific to robotics. Link theoretical knowledge of geometric models with programming of industrial robots. Programming and working with industrial robots. Use of knowledge for development of robotic production cells.

Learning and teaching methods:

Students have a textbook Robotics with the course content. Different examples related to each chapter are presented during lectures. Some areas of robotics are presented separately in the form of "video lectures". Practical exercises take place on a number of modern industrial robots. Students work in small groups. Special attention is paid to safety.

Study materials

Readings:

1. T. Bajd, M.Mihelj, J. Lenarčič, A. Stanovnik, M. Munih: Robotics, Springer, 2010