|
Lecturer(s)
|
-
Úředníček Zdeněk, doc. RNDr. Ing. CSc.
|
|
Course content
|
- Introduction, industrial robot definition, manipulator, wrist, article, joint, degrees of freedom and mechanical systems vector descriptions principles. - Mechanic and liquid grip heads description and application possibilities in studied branch. - Basic movements of mechanic structures: rotational motions, transformation matrix for movement around global and local axes. - Basic movements of mechanic structures: rotational motion series, Euler's theorem, Rodriguez's formula. Euler's parameters, quaternions and their application for rotation representation. - Strings of solid bodies combined motion. Homogenous transformation matrix, point homogenous vector in 3D space. movements assembling. - Direct kinematic problem and its connection with vectorial graphics in 3D space. - Inverse kinematic problem. Its solution for conventional manipulators type. - Set of bonded mechanical bodies dynamics description. Link to kinematic description. - Inertia and pseudo - inertia matrix. - Lagrange's equations I. and II. type. Gravitation potential field. - Examples of motion equation for elementary bonded rigid body chains. - Mechanical systems motion control. Control methods, examples.
|
|
Learning activities and teaching methods
|
Methods for working with texts (Textbook, book), Individual work of students
- Preparation for examination
- 50 hours per semester
|
| prerequisite |
|---|
| Knowledge |
|---|
| The algebra knowledge is assumed, matrix arithmetic and coordinate geometry - mainly vector arithmetic in 3D space. |
| The algebra knowledge is assumed, matrix arithmetic and coordinate geometry - mainly vector arithmetic in 3D space. |
| Thenceforth ordinary differential equation systems knowledge is supposed, motional equations mechanic systems. |
| Thenceforth ordinary differential equation systems knowledge is supposed, motional equations mechanic systems. |
| Knowledge of machines parts is necessary, manufacturing machines arrangement and other related branch. |
| Knowledge of machines parts is necessary, manufacturing machines arrangement and other related branch. |
| learning outcomes |
|---|
| Student has the knowledges and fundamental skills from industrial robots and manipulators area. |
| Student has the knowledges and fundamental skills from industrial robots and manipulators area. |
| teaching methods |
|---|
| Methods for working with texts (Textbook, book) |
| Individual work of students |
| Individual work of students |
| Methods for working with texts (Textbook, book) |
| Skills |
|---|
| Individual work of students |
| Individual work of students |
| Practice exercises |
| Practice exercises |
| assessment methods |
|---|
| Knowledge |
|---|
| Oral examination |
| Oral examination |
|
Recommended literature
|
-
Craig, John J. Introduction to robotics : mechanics and control. 3rd ed. Upper Saddle River, N.J. : Pearson/Prentice Hall, 2005. ISBN 0201-54361-3.
-
Critchlow, A. J. Introduction to Robotics. New York : Macmillan, 1985. ISBN 0023255900.
-
Chvála, Břetislav. Průmyslové roboty a manipulátory. 1. vyd. Praha : Státní nakladatelství technické literatury, 1990. ISBN 80-03-00361-X.
-
Maňas, Miroslav. Výrobní stroje a zařízení I. Vyd. 1. Zlín : Univerzita Tomáše Bati ve Zlíně, 2007. ISBN 978-80-7318-596-1.
|