354-0501/01 – Mechatronics (MECHT)

Gurantor departmentDepartment of RoboticsCredits5
Subject guarantorprof. Dr. Ing. Vladimír MostýnSubject version guarantorprof. Dr. Ing. Vladimír Mostýn
Study levelundergraduate or graduateRequirementCompulsory
Year1Semesterwinter
Study languageCzech
Year of introduction2004/2005Year of cancellation2010/2011
Intended for the facultiesFSIntended for study typesFollow-up Master
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 2+2
Combined Credit and Examination 12+4

Subject aims expressed by acquired skills and competences

The main objective of this subject is to obtain knowledge in area of computing of kinematic and dynamic values of serial kinematic structures of the industrial robots as the basic parameters for the synthesis of the robot control system that is based on the Computed Torque Control principle. During this course the students obtain necessary knowledge for the mechatronic approach to the robot design.

Teaching methods

Lectures
Tutorials
Project work

Summary

The course deals with methodics of the mechatronic approach to the design of industrial robots and manipulators. The main attention is paid to kinematic and dynamic analysis of the robot mechanisms and mathematic modeling of the individual subsystems – mechanical, drive and control subsystem, modeling of their main parameters and also to possibilities of the connection of the all subsystems into one simulation model. The individual subsystems are modeled using CAD system Pro/Engineer and simulating systems MSC Adams and Matlab.

Compulsory literature:

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

Recommended literature:

Brát, V. Maticové metody v analýze a syntéze prostorových vázaných mechanických systémů. Praha:ACADEMIA, 1981 Frolov,K.V.- Voroběv,E.I. Mechanika promyšlennych robotov, Kinematika i dinamika. Moskva, 1988 Mostýn, V. Modelování a analýza konstrukcí robotů II. 1.vyd. Ostrava: skripta VŠB TUO, 2002. 111 stran; ISBN 80-248-0022-5

Way of continuous check of knowledge in the course of semester

Solution of the control tasks, elaborating of the individual project - manipulator with 3 DOF, concurrent control during elaborating of the project.

E-learning

Další požadavky na studenta

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

1. Kinematics of the spatial mechanisms, direct task of kinematics, transformation of coordinates, Denavit-Hartenberg principle. 2. Differential expression of the kinematic equations, application of differential operators. 3. Inverse task of kinematics based on Taylor expansion of the transform matrix. 4. Jacobi matrix and their applications. 5. Inverse task of kinematics based on Newton method of approximation. 6. Optimization methods of inverse kinematic task, heuristic methods. 7. Optimization methods of inverse kinematic task, gradient methods. 8. Trajectory planning, interpolation at the joint level. 9. Newton-Euler method, computing of the angular and translational velocity of the local coordinate system. 10. Newton-Euler method, computing of the angular and translational acceleration of the local coordinate system. 11. Newton-Euler method, computing of the translational velocity and acceleration of the links COG. 12. Newton – Euler method, computing of the loads and generalized forces, equilibrium of the link forces and moments. 13. Computing of the kinetic energy of the links. 14. Computing of the potential energy of the links. 15. Application of the Lagrange equation, direct and inverse task of dynamics. 16. Mechatronic approach to design of robotic systems.

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 30 (30) 0
                Project Project 30  0
        Examination Examination 70 (70) 0
                Oral Oral examination 70  0
Mandatory attendence parzicipation:

Show history

Occurrence in study plans

Academic yearProgrammeField of studySpec.FormStudy language Tut. centreYearWSType of duty
2008/2009 (N2301) Mechanical Engineering (2301T013) Robotics P Czech Ostrava 1 Compulsory study plan
2008/2009 (N2301) Mechanical Engineering (2301T013) Robotics K Czech Ostrava 1 Compulsory study plan
2007/2008 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators P Czech Ostrava 1 Compulsory study plan
2007/2008 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators K Czech Ostrava 1 Compulsory study plan
2007/2008 (N2301) Mechanical Engineering (2301T013) Robotics P Czech Ostrava 1 Compulsory study plan
2007/2008 (N2301) Mechanical Engineering (2301T013) Robotics K Czech Ostrava 1 Compulsory study plan
2006/2007 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators P Czech Ostrava 1 Compulsory study plan
2006/2007 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators K Czech Ostrava 1 Compulsory study plan
2005/2006 (N2301) Mechanical Engineering (3901T003) Applied Mechanics P Czech Ostrava 1 Choice-compulsory study plan
2005/2006 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators P Czech Ostrava 1 Compulsory study plan
2005/2006 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators K Czech Ostrava 1 Compulsory study plan
2004/2005 (N2301) Mechanical Engineering (3901T003) Applied Mechanics P Czech Ostrava 1 Choice-compulsory study plan
2004/2005 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators P Czech Ostrava 1 Compulsory study plan
2004/2005 (N2301) Mechanical Engineering (2301T032) Production Systems with Industrial Robots and Manipulators K Czech Ostrava 1 Compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner