455-0345/01 – Industrial Robotics (PR)

Gurantor departmentDepartment of Measurement and ControlCredits4
Subject guarantordoc. Ing. Bohumil Horák, Ph.D.Subject version guarantordoc. Ing. Bohumil Horák, Ph.D.
Study levelundergraduate or graduateRequirementChoice-compulsory
Year2Semesterwinter
Study languageCzech
Year of introduction2003/2004Year of cancellation2009/2010
Intended for the facultiesFEIIntended for study typesMaster
Instruction secured by
LoginNameTuitorTeacher giving lectures
HOR02 doc. Ing. Bohumil Horák, Ph.D.
SOL084 Tomáš Solarski
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Credit and Examination 2+2
Combined Credit and Examination 2+12

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

Lectures
Individual consultations
Tutorials
Experimental work in labs
Project work

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:

Handbook of Industrial Robotics. edited by Shimon Y. Nof, John Wiley & Sons; 2nd edition (February 16, 1999), ISBN 0-471-17783-0

Recommended literature:

Horák,B.:Průmyslová robotika. Sylaby na WWW stránkách katedry,2002 (http://kat455.vsb.cz)

Way of continuous check of knowledge in the course of semester

Verification of study: Laboratory tasks, measurements, two tests of continuous check and semester project Laboratory practices and measurements. Development, simulation and realisation of setting semestral project take the students individual from setting thematic part. Tests. Date, hour and place of practise all tests be to students at least of two weeks adwance reported. Student, that from documentary, objective argumnets can not at regular term arrived, may be enter to alternate term as to reagular. In case of any alternation of tests terms, it will be to students imediately reported at lessons or practise. In writing will be at side palne on the gallery beside room A423 presented. Content of test nr.1 contains problematic from lessons and practices of subject in space of time between 1-5 week of semester. Content of test nr.2 contains problematic from lessons and practices of subject in space of time between 1-10 week of semester. Conditions for credit: Minimal 12 points (maximal 45 points) and fill specifications of laboratory practices. Credit acqiure a student, that receive per practice minimal 12 points and fill specifications of laboratory practices and measurements, this means in rated deadlines commit content and formaly rightly elaborate separate parts of semestral project. Examination: Writing part - closing test 0-30 points. Oral part 0-25 points. Student have to succeed in all parts of examination.

E-learning

Další požadavky na studenta

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: 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. 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 Laboratory part with model of mobile robot VIMR - microcontroler board systém Laboratory part with model of mobile robot VIMR - hierarchical system of control

Conditions for subject completion

Combined form (validity from: 1960/1961 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 45 (45) 0
                Laboratory work Laboratory work 15  0
                Written exam Written test 30  0
        Examination Examination 55 (55) 0
                Written examination Written examination 30  0
                Oral Oral examination 25  0
Mandatory attendence parzicipation:

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Occurrence in study plans

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2007/2008 (N2649) Electrical Engineering (2601T004) Measurement and Control Engineering P Czech Ostrava 2 Choice-compulsory study plan
2007/2008 (N2649) Electrical Engineering (2601T004) Measurement and Control Engineering K Czech Ostrava 2 Choice-compulsory study plan
2006/2007 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava 5 Choice-compulsory study plan
2006/2007 (N2645) Electrical Engineerong, Communication and Computer Systems (2612T041) Control and Informatics Systems P Czech Ostrava 3 Choice-compulsory study plan
2006/2007 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava Choice-compulsory study plan
2006/2007 (M2612) Electrical Engineering and Computer Science (2612T018) Electronics and Communication Technology P Czech Ostrava Choice-compulsory study plan
2006/2007 (M2612) Electrical Engineering and Computer Science (2642T004) Electrical Machines, Apparatus and Drives (10) Elektrické stroje a přístroje P Czech Ostrava Choice-compulsory study plan
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2006/2007 (M2612) Electrical Engineering and Computer Science (3902T023) Computer Science P Czech Ostrava Choice-compulsory study plan
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2006/2007 (N2649) Electrical Engineering (2601T004) Measurement and Control Engineering P Czech Ostrava 2 Choice-compulsory study plan
2006/2007 (N2649) Electrical Engineering (2601T004) Measurement and Control Engineering K Czech Ostrava 2 Choice-compulsory study plan
2005/2006 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava 5 Choice-compulsory study plan
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2005/2006 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava Choice-compulsory study plan
2005/2006 (M2612) Electrical Engineering and Computer Science (2612T018) Electronics and Communication Technology P Czech Ostrava Choice-compulsory study plan
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2005/2006 (M2612) Electrical Engineering and Computer Science (3902T023) Computer Science P Czech Ostrava Choice-compulsory study plan
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2004/2005 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava Choice-compulsory study plan
2004/2005 (M2612) Electrical Engineering and Computer Science (2612T018) Electronics and Communication Technology P Czech Ostrava Choice-compulsory study plan
2004/2005 (M2612) Electrical Engineering and Computer Science (2642T004) Electrical Machines, Apparatus and Drives (10) Elektrické stroje a přístroje P Czech Ostrava Choice-compulsory study plan
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2003/2004 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava Choice-compulsory study plan
2003/2004 (M2612) Electrical Engineering and Computer Science (2612T018) Electronics and Communication Technology P Czech Ostrava Choice-compulsory study plan
2003/2004 (M2612) Electrical Engineering and Computer Science (2642T004) Electrical Machines, Apparatus and Drives (10) Elektrické stroje a přístroje P Czech Ostrava Choice-compulsory study plan
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2003/2004 (M2612) Electrical Engineering and Computer Science (3902T023) Computer Science P Czech Ostrava Choice-compulsory study plan
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Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner