Subject description
Introduction (degrees of freedom, robotic manipulator, robot arms, introduction of robots in industrial processes). Homogeneous transformation matrix (translation, rotation, pose and displacement). Geometric model of robot manipulator. Two-segment robotic manipulator (kinematics, workspace, dynamics). Robotic sensors (position, force, torque, robot vision). Robot control (trajectory planning, position control, force control). Robotic workcells (feeding devices, grippers, robotic tools). Collaborative robots. Mobile industrial robot systems.
The subject is taught in programs
Objectives and competences
Course Robotics gives an overview over the entire field of robotics. Topics are selected according to the needs of engineers who introduce or maintain robotic cells or production lines in industry. In the theoretical part of the course students learn the geometric model of the robot, which is essential for programming robots. In the practical part of the course, students in small groups learn programming of industrial robots.
Teaching and learning methods
Students have a textbook Robotics with the course content. Different examples related to each chapter are presented during lectures. Some areas of robotics are presented separately in the form of "video lectures". Practical exercises take place on a number of modern industrial robots. Students work in small groups. Special attention is paid to safety.
Expected study results
After successful completion of the course, students should be able to:
– describe the operation of robot systems,
– describe robot pose with homogeneous transformation matrices,
– design a geometric model of robot mechanism,
– implement a control scheme specific to robotics,
– link theoretical knowledge of geometric models with programming of industrial robots, — use of knowledge for development of robotic production cells.
Basic sources and literature
- BAJD, Tadej, Mihelj, Matjaž, LENARČIČ, Jadran, STANOVNIK, Aleš, MUNIH, Marko: Robotika, Založba FE in FRI, 2008.
- MIHELJ, Matjaž, BAJD, Tadej, UDE, Aleš, LENARČIČ, Jadran, STANOVNIK, Aleš, MUNIH, Marko, REJC, Jure, ŠLAJPAH, Sebastjan: Robotics, Second Edition, Springer, 2019
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University of Ljubljana, Faculty of Electrical Engineering Tržaška cesta 25, 1000 Ljubljana