455-0108/01 – Industrial robotics (PR)
| Gurantor department | Department of Measurement and Control | Credits | 4 |
| Subject guarantor | doc. Ing. Bohumil Horák, Ph.D. | Subject version guarantor | doc. Ing. Bohumil Horák, Ph.D. |
| Study level | undergraduate or graduate | Requirement | Choice-compulsory |
| Year | | Semester | winter |
| | Study language | Czech |
| Year of introduction | 2000/2001 | Year of cancellation | 2002/2003 |
| Intended for the faculties | FEI | Intended for study types | Master |
Subject aims expressed by acquired skills and competences
Target of subject is provide of informations to students from area of machatronic and robototechnic, to they were swing orientate in their mechanical structures, displace suitability their employment in productions processes and design their control systems including application of methodology and resources of artificial intelligence.
After passing the course students have the main knowledge and skills with the field of industrial robotics, principles, methods and tools of robotics and with ability in robotics systems design including the tools of artificial intelligence.
After passing the course students have the main knowledge and skills with the field of industrial robotics, principles, methods and tools of robotics and with ability in robotics systems design including the tools of artificial intelligence.
Teaching methods
Summary
Subject is aimed at problematics of description and property of industrial robots and manipulators. To be giving listing theirs structures, observe special functions to their inteligent behaviour conduct. Specially is aimed in field of modeling of robotic systems and methods and means of theirs control. Relate list and principles od special measurements and sensor systems applied in robotic and observe systems for diagnostic of technical state of robotic devices.
Compulsory literature:
Recommended literature:
Way of continuous check of knowledge in the course of semester
Verification of study:
90 points for elaboration of 3 written tests
Conditions for credit:
10 points for elaboration of laboratory reports
E-learning
Other requirements
Prerequisities
Subject has no prerequisities.
Co-requisities
Subject has no co-requisities.
Subject syllabus:
Lectures:
Fundamental terms and general principles of robototechnic
Robot as a system, subsystems of industrial robots and manipulators (IRaM), classification of IRaM
Modular, universal and single purpose IraM, applications, principles of classification according to kinematic structure, drives, technological assignation, control systems, concepts of constructions and eventuality of integration in industrial processes.
Kinematic structures of IRaM and their selection for given application, type structures of IRaM, geometrical and kinematical characteristics.
Kinamatic and dynamic analysis. Kinematic structures of robots.
Influences of construction robotic system at his use property.
General structure of control system of robot and manipulator, activity of particular levels of control.
Fundamental level of control, matematical model of kinematics structure and his representation in control unit of robot.
Perception subsystem of IRaM.
Technical devices of control systems of IRaM, logical control, continuous control.
Software devices of control systems IRaM, application of general programming languages, problem oriented languages.
Artifficial intelligence, multi-agents-systems, cooperate productions device.
Technical diagnostic.
Diagnostic systems of robotic and productions systems, methodology of comparing and verification of technical parameters.
Exercises:
Analysis of kinematcs of laboratory robot and positioning accuracy measurement of arm terminal point.
Implementation of supporting electronical devices for guidance of arm of laboratory robot to position. Analysis of effects of different principles of arm guidance.
Effect of robot kinematics to consequential speed and measurement acuracy .
Guidance accuracy, representation of area in robot memory, robot orientation, methods to guidance accuracy heighten and their comparsion.
Robot guidance with ultrasonic guidance system. Guidance accuracy, representation of area in memory of robot, robot orientation.
Robot guidance with visual guidance system.
Visual systems working by 3-D representation of action area, orientation in area, representation of area in apearance database of robot, relationship to knowlwdge database.
Laboratories:
Introduction at laboratory enviroment, security and anti-fire regulations for work in laboratory.
Laboratory part with model of mobile robot VIMR - analysis of mobile subsystem.
Laboratory part with model of mobile robot VIMR - analysis of orientation subsystem
Laboratory part with model of mobile robot VIMR - abidance of motion trajectory.
Laboratory part with model of mobile robot VIMR - subsystem of command transmission in HC11
Laboratory part with model of mobile robot VIMR - microcontroler board systém
Laboratory part with model of mobile robot VIMR - hierarchical systém of control with PC and HC12.
Conditions for subject completion
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction
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