354-0501/02 – Mechatronics (MECHT)
| Gurantor department | Department of Robotics | Credits | 6 |
| Subject guarantor | prof. Dr. Ing. Vladimír Mostýn | Subject version guarantor | prof. Dr. Ing. Vladimír Mostýn |
| Study level | undergraduate or graduate | Requirement | Compulsory |
| Year | 1 | Semester | summer |
| | Study language | Czech |
| Year of introduction | 2008/2009 | Year of cancellation | 2022/2023 |
| Intended for the faculties | FS | Intended for study types | Follow-up Master |
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:
Additional study materials
Way of continuous check of knowledge in the course of semester
Solution of the control tasks, elaborating of the individual project.
E-learning
Other requirements
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. 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
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction