Selected topics in robotics

Course description

– Analysis and synthesis of serial and parallel robot mechanisms

– Advanced approaches in kinematics, dynamics, control and sensory systems in robotics

– Parallel robot systems: kinematic singularities, manipulability, sensitivity of constructional errors

– Robotic grasping systems: multifinger robot grippers, grasping in man and robot, tendon systems

– Robot systems in medicine: rehabilitation robotics, robotics in surgery, biorobotics

– Walking robots: monopod, biped, and multilegged robots, analysis and sysnthesis of locomotion in man and robot

– Exotic robots

Course is carried out on study programme

Objectives and competences

The aim of the course is to present topics from the areas of kinematics, dynamics, control, and sensory systems of most advanced robot systems.

Learning and teaching methods

Lectures and seminars are based on recent papers published in eminent robotic journals, i.e. IEEE Trans. Robot., Int. J. Robot. Res., Advanced Robotics and conference proceedings IEEE ICRA and IROS. The lectures cover theoretical background, advaced technologies, and practical examples. Seminar is based on student's personal research and includes presentation of research results.

Intended learning outcomes

After sccessful completion of the course, students should be able to:

– use the kinematics and statics of robotic mechanisms,

– address specific problems of robotics,

– develop and propose solutions to a specific problem,

– assess adequacy of using simpler and more complex approaches,

– connect different methods among themselves,

– modify classic approaches with their own ideas.

Reference nosilca

J. Činkelj, R. Kamnik, P. Čepon, M. Mihelj, M. Munih (2010) Closed-loop control of hydraulic telescopic handler, Automation in Construction, Vol. 19, No. 7, 954-963.

BERAVS, Tadej, BEGUŠ, Samo, PODOBNIK, Janez, MUNIH, Marko. Magnetometer calibration using Kalman filter covariance matrix for online estimation of magnetic field orientation. IEEE transactions on instrumentation and measurement, ISSN 0018-9456, Aug. 2014, vol. 63, no. 8, 2013-2020.

POGAČNIK, Luka, MUNIH, Marko. Towards a multi-perspective time of flight laser ranging device based on mirrors and prisms. Applied sciences. Jul.-2 2022, iss. 14, 7121, str. 1-15, ISSN 2076-3417.

ZORE, Aleš, ČERIN, Robert, MUNIH, Marko. Impact of a robot manipulation on the dimensional measurements in an SPC-based robot cell. Applied sciences. Jul.-2 2021, no. 14, 6397, str. 1-18, ISSN 2076-3417.

MUNIH, Marko, IVANIĆ, Zoran, KAMNIK, Roman. Wearable sensory apparatus for real-time feedback in wearable robotics. Applied sciences. Dec.-1 2021, no. 23, 11487, str. 1-20, ISSN 2076-341.

Study materials

[1] B. Siciliano, O. Khatib, Handbook of Robotics, Springer, 2016.

[2] M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, Willey, 2005.

[3] J. Lenarčič, T. Bajd, M.Stanišič, Robot Mechanisms, Springer 2012.

[4] Arimoto S, Control theory of multi-fingered hands, Springer, 2008.

[5] Springer Tracts in Advanced Robotics (several books)

Bodi na tekočem

Univerza v Ljubljani, Fakulteta za elektrotehniko, Tržaška cesta 25, 1000 Ljubljana

E:  dekanat@fe.uni-lj.si T:  01 4768 411