450-2093/02 – Industrial Robotics I (PR I)
| Gurantor department | Department of Cybernetics and Biomedical Engineering | Credits | 4 |
| Subject guarantor | Ing. Radim Hercík, Ph.D. | Subject version guarantor | Ing. Radim Hercík, Ph.D. |
| Study level | undergraduate or graduate | | |
| | Study language | English |
| Year of introduction | 2019/2020 | Year of cancellation | |
| Intended for the faculties | FEI | Intended for study types | Bachelor |
Subject aims expressed by acquired skills and competences
The aim of the course is to provide students with basic information in the field of mechanization and automation of production machines, industrial robotics and robot technology. After studying the module the student should be able to describe basic principles of function, construction and operation of industrial robots, their subsystems and structural elements. He should be able to design a robot / robot control system, program it and incorporate it into a robotic cell.
Teaching methods
Lectures
Individual consultations
Experimental work in labs
Project work
Other activities
Summary
The subject is focused on historical development, basic description of structures, topologies, subsystems and properties of industrial robots and manipulators. It provides overview and classification of mechanical constructions, motion, control and sensor subsystems. It describes their current application in production, the structure of workplaces, significant parameters, economic efficiency and perspectives and social aspects of deployment. In the practical part of laboratory measurements it deals with programming-modeling and control of industrial robot movements in basic tasks.
Compulsory literature:
Recommended literature:
Additional study materials
Way of continuous check of knowledge in the course of semester
Combined exam (written and oral).
Ongoing monitoring of studies: semester project
Credit conditions: implementation and defense of a semester project (40 points)
E-learning
Other requirements
There are no further requirements.
Prerequisities
Subject has no prerequisities.
Co-requisities
Subject has no co-requisities.
Subject syllabus:
Lectures:
1. Introduction to industrial robotics.
2. Industrial robots, cobots, manipulators - introduction.
3. Industrial robots, types, design and applications.
4. PRaM functional groups, PRaM structure, coordinate systems, coordinate transformations, rotation and translation representation, homogeneous coordinates.
5. PRaM kinematic structures, object trajectory, trajectory correction, positioning accuracy/repeatability, PRaM statics, object orientation, direct/inverse kinematic problem, differential kinematics, singular robot states, kinematic description of a practical robotic workstation (example).
6. Effect of actuator on layout, design and technological constraints, examples of positioning mechanisms.
7. PRaM actuators - external/internal actuators, actuator transformation block, electrical actuators, hydraulic actuators, pneumatic actuators, combined actuators, determination of actuator parameters.
8. PRaM output heads, gripper/technology, mechanical, vacuum, magnetic, special.
9. Application of PRaM in production, structure of workplaces with PRaM, PRaM parameters, economic efficiency of PRaM deployment, perspectives and social aspects of PRaM deployment.
10. Industrial robotics in the concept of Industry 4.0 initiative.
11. Linking industrial and mobile robotics with control systems.
12. Summary of key information on industrial and mobile robotics.
Exercise:
1. Safety training, organization of exercises.
2. Industrial line demonstration, functions of industrial and mobile robots.
3. Industrial robots Kuka, construction, basic control.
4. Kuka industrial robots, working with SmartPad, manual control (jogging).
5. Kuka industrial robots programming basics.
6. Creating a demonstration application with a Kuka industrial robot.
7. Design of a mobile robot, basics of control and navigation.
8. Controlling the mobile robot MiR in manual mode.
9. Fundamentals of programming mobile robots, creating a demonstration robot mission.
10. Work on a semester project.
11. Work on a semester project.
12. Defence of the semester project, credit.
Conditions for subject completion
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction
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