354-0310/02 – Control of Industrial Robots (RPR)

Gurantor departmentDepartment of RoboticsCredits6
Subject guarantorprof. Dr. Ing. Vladimír MostýnSubject version guarantorprof. Dr. Ing. Vladimír Mostýn
Study levelundergraduate or graduateRequirementCompulsory
Year3Semestersummer
Study languageCzech
Year of introduction2007/2008Year of cancellation2013/2014
Intended for the facultiesFSIntended for study typesBachelor
Instruction secured by
LoginNameTuitorTeacher giving lectures
MOS50 prof. Dr. Ing. Vladimír Mostýn
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Credit and Examination 3+2
Combined Credit and Examination 14+4

Subject aims expressed by acquired skills and competences

The goal of this subject is to obtain knowledge from the HW and SW means of the robot control. Students obtain knowledge in area of robot drives, their properties and basic control, as well as basic knowledge of the structures of the robot control systems.

Teaching methods

Lectures
Tutorials

Summary

This course deals with main principles of the robot control systems and basic methods of their control. In detail are discussed discrete and continuous electric drives and methods of their control, further HW and SW means of the robots and manipulators control at the basic level.

Compulsory literature:

Dombre, E., Khalil, W. Robot Manipulators - Modeling, Performance, Analysis and Control. 2007. ISBN-10: 1-905209-10-X

Recommended literature:

Mostýn, V. - Skařupa, J. Teorie průmyslových robotů. 1. vydání, Košice: Edice vědecké a odborné literatury – Strojní fakulta TU v Košicích, 2001, 150 stran; ISBN 80-88922-35-6

Way of continuous check of knowledge in the course of semester

Test in the last excersize, concurrent control during elaborating of the individual project.

E-learning

Další požadavky na studenta

Basic knowledge of kinematics and dynamics of the multibody systems.

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

1. Hierarchical structure of the robot control system, tasks of the individual levels. 2. Electric drives of robots – discrete drives – solenoids, step-motors, characteristics, way of control. 3. Electric drives of robots – continuous drives – DC and AC brushless motors, characteristics, way of control. 4. Electric drives of robots – continuous drives – synchronous and asynchronous AC motors, characteristics, way of control. 5. Position sensors of robots – contact, resistive, inductive and capacitive sensors, photoelectric and optoelectronic sensors, fluidic sensors. 6. HW and SW means of the basic level of robot control systems. 7. HW and SW means of the operational level of robot control systems –an inverse kinematic task. 8. Solutions of the inverse kinematic task and connections to other levels of the control system. 9. Graphic simulation of robotized workcells.

Conditions for subject completion

Full-time form (validity from: 1960/1961 Summer semester, validity until: 2010/2011 Summer semester)
Task nameType of taskMax. number of points
(act. for subtasks)
Min. number of points
Exercises evaluation and Examination Credit and Examination 100 (100) 51
        Exercises evaluation Credit 35  0
        Examination Examination 65 (65) 0
                Written examination Written examination 35  0
                Oral Oral examination 30  0
Mandatory attendence parzicipation:

Show history

Occurrence in study plans

Academic yearProgrammeField of studySpec.FormStudy language Tut. centreYearWSType of duty
2012/2013 (B2341) Engineering (2301R013) Robotics P Czech Ostrava 3 Compulsory study plan
2012/2013 (B2341) Engineering (2301R013) Robotics K Czech Ostrava 3 Compulsory study plan
2011/2012 (B2341) Engineering (2301R013) Robotics (70) Robotics P Czech Ostrava 3 Compulsory study plan
2011/2012 (B2341) Engineering (2301R013) Robotics (70) Robotics K Czech Ostrava 3 Compulsory study plan
2010/2011 (B2341) Engineering (2301R013) Robotics (70) Robotics P Czech Ostrava 3 Compulsory study plan
2010/2011 (B2341) Engineering (2301R013) Robotics (70) Robotics K Czech Ostrava 3 Compulsory study plan
2009/2010 (B2341) Engineering (2301R013) Robotics (70) Robotics P Czech Ostrava 3 Compulsory study plan
2009/2010 (B2341) Engineering (2301R013) Robotics (70) Robotics K Czech Ostrava 3 Compulsory study plan
2008/2009 (B2341) Engineering (2301R013) Robotics (70) Robotics P Czech Ostrava 3 Compulsory study plan
2008/2009 (B2341) Engineering (2301R013) Robotics (70) Robotics K Czech Ostrava 3 Compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner