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Lecturer(s)
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Černohorský Josef, doc. Ing. Ph.D.
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Kajzr Daniel, Ing.
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Course content
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The aim of this subject is to deep knowledge of students about kinematics and dynamics of robots, solutions of direct and inverse kinematics problems with using analytical and numerical methods. After kinematics there will be studied dynamics of robots, matrix differential equations and alternative methods. Students will be informed about basic methods of robot control with using kinematics equations and dynamical equations, robot motion control on defined trajectories and on defined surfaces, classical trajectory planning, numerical solutions of dynamics of robots and simulations of robot motion.
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Learning activities and teaching methods
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Monological explanation (lecture, presentation,briefing)
- Class attendance
- 56 hours per semester
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Learning outcomes
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The aim of this subject is to deep knowledge of students about robot kinematics and dynamics. Firstly there will be solved of direct and inverse kinematics problems with using analytical and numerical methods and then dynamics of robots, with using matrix differential equations and alternative methods. Students will be informed about basic methods of robot control on defined trajectories, classical trajectory planning, numerical solutions of dynamics and simulations of robot control on computer.
Students will acquire the basic concepts of the application of robotics. He will be able to suggest simple robotic cells, program robots and suggest simple sensor subsystems.
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Prerequisites
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Condition of registration: not any.
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Assessment methods and criteria
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Combined examination
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Recommended literature
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Angeles, J. Fundamentals of Robotics Mechanical Systems. Springer-Verlag, New York, 2003.
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Canudas de Win, C. - Siciliany, B. - Bastin, G. Theory of Robot Control. Springer-Verlag, 1996.
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Chvála, B. a kol. Automatizace. SNTL, Praha, 1985..
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Samson, C. - Le Borgne, M. - Espiau, B. Robot Control. Clarendon Press, Oxford, 1991.
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Schilling, R. J. Fundamentals of Robotics. Analysis and Control. Prentice Hall, Englewood Cliffts, New Jersey,1990.
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Vukobratovič, M. - Kirčanski, M. Scientific Fundamentals of Robotics 3. Springer-Verlag, 1986.
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Zehnula, K. Čidla robotů. SNTL, Praha, 1990.
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