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Lecturer(s)
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Course content
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Lectures: 1. Introduction - Course outline, semestral project, requirements 2. Fundamentals - kinematics chains, Work space, Task space 3. Spatial description in 3D - coordinate frames and base vectors, rotation matrix, composing of rotations 4. Representing orientation - Euler angles, axis-angle, quaternions 5. Homogeneous transform - elementary transforms, composing transforms 6. Forward kinematics - Denavit-Hartenberg notation, Spherical wrist 7. Differential kinematics - Jacobian, pseudoinverse, singularities 8. Inverse kinematics - algebraic, geometric, decoupling, numerical 9. Path planning - RRT algorithm, Grid search 10. Trajectory generation - cubic and quantic polynomials, trapezoid trajectory 11. Introduction to dynamics - forces, moments, moments of inertia 12. Dynamics I - Lagrange approach for equations of motion 13. Dynamics II - Newton-Euler approach for equations of motion
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Learning activities and teaching methods
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Lecturing, Individual work of students, E-learning
- Participation in classes
- 56 hours per semester
- Preparation for examination
- 40 hours per semester
- Term paper
- 12 hours per semester
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| prerequisite |
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| Knowledge |
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| Knowledge of the content of subjects Electrical Engineering, Mechatronic Systems, Automatic Control is assumed. Furthermore, high school knowledge of vector calculus in 2D and 3D is assumed. Basic knowledge of mechanics and linear ordinary differential equations of the 1st and 2nd order, acquired during the previous study of the field. |
| Knowledge of the content of subjects Electrical Engineering, Mechatronic Systems, Automatic Control is assumed. Furthermore, high school knowledge of vector calculus in 2D and 3D is assumed. Basic knowledge of mechanics and linear ordinary differential equations of the 1st and 2nd order, acquired during the previous study of the field. |
| learning outcomes |
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| Describe the kinematics of simple manipulators |
| Describe the kinematics of simple manipulators |
| Compute the Jacobian and singularities of manipulators |
| Compute the Jacobian and singularities of manipulators |
| Design the joint variables trajectory |
| Design the joint variables trajectory |
| Apply the spatial transformations |
| Apply the spatial transformations |
| Use different means of describing orientation of objects in space |
| Use different means of describing orientation of objects in space |
| Skills |
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| compute the forward and inverse kinematics of serial kinematics chains |
| compute the forward and inverse kinematics of serial kinematics chains |
| select suitable kinematic structure according to application |
| select suitable kinematic structure according to application |
| apply homogeneous transformation matrices |
| apply homogeneous transformation matrices |
| determine the DH parameters for forward kinematics |
| determine the DH parameters for forward kinematics |
| use Python to compute forward, differential and inverse kinematics |
| use Python to compute forward, differential and inverse kinematics |
| teaching methods |
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| Knowledge |
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| E-learning |
| Individual work of students |
| Individual work of students |
| Lecturing |
| Lecturing |
| E-learning |
| Exercises on PC |
| Exercises on PC |
| assessment methods |
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| Oral examination |
| Analysis of seminar paper |
| Analysis of seminar paper |
| Oral examination |
| Written examination |
| Written examination |
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Recommended literature
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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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