354-0503/04 – Robots and Manipulators (RaM)
| Gurantor department | Department of Robotics | Credits | 4 |
| Subject guarantor | doc. Ing. Milan Mihola, Ph.D. | Subject version guarantor | doc. Ing. Milan Mihola, Ph.D. |
| Study level | undergraduate or graduate | Requirement | Compulsory |
| Year | 2 | Semester | winter |
| | Study language | English |
| Year of introduction | 2008/2009 | Year of cancellation | |
| Intended for the faculties | USP, FS | Intended for study types | Follow-up Master |
Subject aims expressed by acquired skills and competences
The goal is the formation of professional
graduate profile, which will work as a designer of mechatronic
systems. In addition to the ability of analysis, evaluation, application of knowledge to design robots and other complex mechatronic systems.
Teaching methods
Lectures
Tutorials
Project work
Other activities
Summary
V předmětu posluchači rozvíjí poznatky robototechniky z hlediska konstrukce,
teorie a výpočtů uzlů a prvků robotů.Předmět je zaměřen na oblasti:
- mechatronické systémy, charakteristiky, pojmy a principy,
- vývojové trendy, základní subsystémy RaM, jejich klasifikaci,
- požadavky a metodiku navrhování RaM,
- konstrukce a výpočty prvků a orgánů nosného subsystému,
- navrhování a výpočty efektorů RaM
- navrhování typových konstrukcí RaM
- navrhování robotů pro nestrojírenská odvětví, servisních a personálních
robotů
Compulsory literature:
RIVIN, E. I.: Mechanical design of robots.New York, McGraw-Hill Book
Company, 1988.
Angeles, J.: Fundamentals of Robotic, Mechanical systems, Second Edition,
Springer, 2002, [ISBN 0-387 – 95368 - X] 513 p.
Lung-Wen Tsai: Robot Analysis, John Wiley § Sons, 1999, [ISBN 0-471 –
32593 - 7] 497 str.
Recommended literature:
http://www.youtube.com/watch?v=dRA4sD_3xu0
http://modlabupenn.org/smores/
Way of continuous check of knowledge in the course of semester
Projekt - program pro robot ABB IRB140.
E-learning
Other requirements
I don't have additional requirements on students.
Prerequisities
Subject has no prerequisities.
Co-requisities
Subject has no co-requisities.
Subject syllabus:
Lectures:
1. Industrial robot, End-effector, Industrial robot system, Industrial robot cell, Industrial robot line.
2. Basic safety requirements in industrial robotics.
3. Coordinate systems of an industrial robot. Robot operation modes.
4. Basic operation techniques for robotized workplace. Manual control of a robot.
5. Preparing the robot to create a program. Calibration. Creation of a tool and TCP definition.
6. Introduction to ABB Robot Programming. Moving instructions.
7. Robot programming logic. Robot programming via FPU (flexpendant).
8. Tools for complex programming. Introduction to RobotStudio software (RapidEditor).
9. Using DI/DO signals.
10. Industrial robot cells for manipulation and palletizing applications.
11. Industrial robot cells for welding and panting applications.
12. Industrial robot cells for foundry applications.
13. Trends in industrial robotics – collaborative robotics.
14. Trends in industrial robotics – vision systems and AI.
Seminars:
1. Description of the IRB140 robot (manipulator, controller and educational cell). Safety rules for educational cell. Safety circuits of the robot. Operation modes. Description and functions of FPU unit.
2. Manual control of the robot. Coordinate systems. Manual control modes.
3. Basic set up of the robot. Creation of user defined tool and TCP. TCP modification. Basic user calibration.
4. Introduction to ABB Robot Programming. Structure of the program. Backup and recovery of the program.
5. Robot programming logic. Procedures and modules. Basic instructions.
6. Moving instructions.
7. Tools for complex programming. Basic data types. Compound data types. Functions and cycles.
8. Using DI/DO signals.
9. Introduction to RobotStudio software (RapidEditor).
10. Practicing. Final project assignment.
11. Elaboration of assigned project. Consultation.
12. Elaboration of assigned project. Consultation.
13. Elaboration of assigned project. Consultation.
14. Demonstration and defense of the final project.
Conditions for subject completion
Occurrence in study plans
Occurrence in special blocks