Selected topics in robotics

Subject 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

The subject is taught in programs

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.

Teaching and learning 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.

Expected study results

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.

Basic sources and literature

[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)

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