Subject description
Introduction (industrial and service robot mechanisms, workspace); Geometrical model of robot mechanism (homogenous transformation matrices, direct and inverse kinematics); Sensors in robotics and production systems; Robot control (introduction to robot dynamics, trajectory generation, position and force control); Robot workcell (robot grippers, feeding and fixturing devices); Production process automation; Standards and safety in robotics.
The subject is taught in programs
Objectives and competences
The subject covers the area of industrial and service robotics and integration of robots with production systems. The aim of the course is to acquire knowledge necessary for understanding principles of industrial and service robotics applications, for being able to define sequences of tasks necessary for automation of a production process and for designing, programming and maintaining industrial robot cells and lines. Additionally, students will acquire basic knowledge related to standardization in the field of robotics and robot based automation.
Teaching and learning methods
Students have available a condensed lecture material. Practical examples are solved in lectures presenting particular chapters. Some areas of robots usage are presented by “video lectures” (robots in medicine, entertainment robotics, walking robots, mobile robots, robot grippers, service robotics, robot vision, rehabilitation robotics). Lab practice is accomplished on a number of modern industrial robots. Students work in small groups. Special attention is devoted to assuring safety in work with the robots.
Expected study results
After successful completion of the course, students should be able to:
– use homogenous transformation matrices for description of pose and transformation of objects in 3D space,
– develop a geometrical model of robot mechanism,
– interpret influences to robot mechanism motion,
– compare different approaches to robot mechanism control,
– develop a programming code for industrial robot control,
– conceive robot production cell incorporating sensors and periphery.
Basic sources and literature
- T. Bajd, M. Mihelj, J. Lenarčič, A. Stanovnik, M. Munih: Robotika, Univerza v Ljubljani, Založba FE&FRI, 2008
- M. Mihelj, T. Bajd, A. Ude, J. Lenarčič, A. Stanovnik, M. Munih, J. Rejc, S. Šlajpah: Robotics, Springer, 2019
- J.J. Craig: Introduction to Robotics – Mechanics and Control, Pearson, Prentice Hall, 2005
- M.W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling and Control, John Wiley&Sons, Inc., 2006
- M Xie, Fundamentals of Robotics – Linking Perception to Action, World Scientific, 2003
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University of Ljubljana, Faculty of Electrical Engineering Tržaška cesta 25, 1000 Ljubljana