Robotics and production systems

Higher education teachers: Kamnik Roman

Subject description

Prerequisits:

• Enrollment into 3rd year of study.

Content (Syllabus outline):

• Introduction (industrial and service robot mechanisms, workspace);
• Geometrical model of robot mechanism (homogenous transformation matrices, direct and inverse kinematics);
• Sensors in robotics and production systems;
• Robot control (introduction to robot dynamics, trajectory generation, position and force control);
• Robot workcell (robot grippers, feeding and fixturing devices);
• Production process automation; Standards and safety in robotics.

Objectives and competences:

The subject covers the area of industrial and service robotics and integration of robots with production systems. The aim of the course is to acquire knowledge necessary for understanding principles of industrial and service robotics applications, for being able to define sequences of tasks necessary for automation of a production process and for designing, programming and maintaining industrial robot cells and lines. Additionally, students will acquire basic knowledge related to standardization in the field of robotics and robot based automation.

Intended learning outcomes:

• Knowledge and understanding:
• Knowledge of pose description using homogenous transformation matrices, and design of geometrical model for robot mechanisms.
• Usage of the learned knowledge in the design of a robot workcell.
• Connecting the theoretical knowledge of robotic geometrical models and programming of industrial robots.
• Programing and practical experiences with industrial robots.

Learning and teaching methods:

Students have available a condensed lecture material. Practical examples are solved in lectures presenting particular chapters. Some areas of robots usage are presented by “video lectures” (robots in medicine, entertainment robotics, walking robots, mobile robots, robot grippers, service robotics, robot vision, rehabilitation robotics). Lab practice is accomplished on a number of modern industrial robots. Students work in small groups. Special attention is devoted to assuring safety in work with the robots.

Study materials

Readings:

1. T. Bajd, M. Mihelj, J. Lenarčič, A. Stanovnik, M. Munih: Robotics, Springer, 2010
2. J.J. Craig: Introduction to Robotics - Mechanics and Control, Pearson, Prentice Hall, 2005
3. M.W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling and Control, John Wiley&Sons, Inc., 2006
4. M Xie, Fundamentals of Robotics - Linking Perception to Action, World Scientific, 2003