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Lecturer(s)
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Vašek Vladimír, prof. Ing. CSc.
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Course content
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1. Considered concept of mechatronic and robotic systems and their definition 2. Formal definition of the term system. Segment definition, system concept, formal definition of system model 3. Definition of isomorphic model and model and definition of simulation model 4. Interpretation of the definition of the term system and model. Examples on real objects 5. Unitary approach to creating models of mechatronic systems 6. Dynamic behavior of mechatronic systems. Power variables and their orientation. Models using physical elements. 7. Dissipative and cumulative elements. Energy sources. 8. Relationships of multipole models of systems. Postulate of continuity and compatibility. 9. Energy converters. Power transmission transformers. Power transmission generators. 10. Controlled motion in systems with mechanical subsystems. Dynamics of motion of bound mass points. 11. Lagrange form of Newton's equations of motion. Basic derivation. 12. Potential field and potential forces 13. Mechanical energy of the system. 14. Modification of Lagrange equations at potential forces. Physical model of a released body in a plane with rotation and a translational kinematic pair.
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Learning activities and teaching methods
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Activating (Simulation, games, dramatization), Individual work of students
- Term paper
- 35 hours per semester
- Preparation for examination
- 20 hours per semester
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| prerequisite |
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| Knowledge |
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| Prerequisites and co-requisites Knowledge of the content of the subjects Differential Equations, Differential and Integral calculus of several variables, Electrical Engineering, Mechatronic Systems and Automation in the range required at FAI UTB. It is further assumed knowledge of the kinematic description of the motion of bounded ideally rigid material objects in 3D space. |
| Prerequisites and co-requisites Knowledge of the content of the subjects Differential Equations, Differential and Integral calculus of several variables, Electrical Engineering, Mechatronic Systems and Automation in the range required at FAI UTB. It is further assumed knowledge of the kinematic description of the motion of bounded ideally rigid material objects in 3D space. |
| learning outcomes |
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| The output of the course is the acquisition of knowledge of the graduate in the field of mechatronic and robotic systems technical means and their modeling of power and information interactions, enabling the creation of motion control laws project.The description of these systems is consistently performed using multiport descriptions of the behavior of general (mechatronic) systems with undecomposed parameters, i.e. systems that can be described by a system of ordinary algebraic-differential equations.The graduate will gain knowledge of the generalization of the system and system model concept and will have the ability to project laws of motion control and its verification using simulation experiments. |
| The output of the course is the acquisition of knowledge of the graduate in the field of mechatronic and robotic systems technical means and their modeling of power and information interactions, enabling the creation of motion control laws project.The description of these systems is consistently performed using multiport descriptions of the behavior of general (mechatronic) systems with undecomposed parameters, i.e. systems that can be described by a system of ordinary algebraic-differential equations.The graduate will gain knowledge of the generalization of the system and system model concept and will have the ability to project laws of motion control and its verification using simulation experiments. |
| teaching methods |
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| Activating (Simulation, games, dramatization) |
| Individual work of students |
| Individual work of students |
| Activating (Simulation, games, dramatization) |
| assessment methods |
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| Analysis of a presentation given by the student |
| Analysis of a presentation given by the student |
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Recommended literature
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BARTELT, T. Industrial Automated Systems: Instrumentation and Motion Control. Delmar, Cengage learning, 2011. ISBN 987-1-4354-8888-5.
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BRADLEY D. A & KOL. Machatronics. Chapman &Hall, 1991. ISBN 0-412-58290-2.
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CRAIG, J. J. Introduction to Robotics, Mechanics and Control. Reading, Mas. : Addison-Wessley, 1989. ISBN 02-0110-3265.
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JAZAR, R. N. Theory of Applied Robotic: Kinematics, Dynamics, and Control. Springer Science + Business Media, LLC, New York, 2007. ISBN 13-978-0-387-3247.
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K.H. HUNT. Kinematic Geometry of Mechanisms. Clarendon, Oxford, 1978.
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SICILIANO B, SCIAVICCO L, VILLANI L, ORIOLO G. Robotics: Modelling, planning and control. Springer- Verlag, Berlin Heidelberg, 2009.
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SKAŘUPA, J., MOSTÝN,V. Teorie průmyslových robotů. Košice: Edícia vedeckej a odbornej literatúry - Strojnícka, 2000. ISBN 80 - 88922 - 35 -.
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SKAŘUPA, J. Průmyslové roboty a manipulátory. učební text Vysoké školy báňské - Technické univerzity, Ostrava, Ostrava, 2007. ISBN 978-80-248-1522-0.
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Slotine, J.-J., Li, W. Applied Nonlinear Control. New Jersey, 1991. ISBN 0-13-040890-5.
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Úředníček, Z. Robotika. skripta UTB ve Zlíně, Zlín, 2012. ISBN 978-80-7454-223-7.
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Valášek, M. & kol. Mechatronika. FS ČVUT Praha, 1996.
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