Robotics

Subject description

The course covers basic robotic concepts, including robotic systems and the introduction of robots into industrial processes. It focuses in detail on homogeneous transformation matrices for the description of translation, rotation, position and displacement. A geometric model of a robotic manipulator is presented. Kinematics, dynamics and workspace are explained using a simple manipulator as an example. The chapter on robotic sensors deals with the detection of position, forces and torques, as well as robot vision, which is crucial for the interaction of the robot with its environment. The course further focuses on the control of robotic mechanisms, including trajectory planning, position and force control. Feeders, grippers and robotic tools are also important in robotic cells. Collaborative robots and mobile industrial robotic systems represent current trends in robotics, with an emphasis on flexibility in manufacturing and other industrial environments.

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.