Summary of Study |
Summary of Branches |
All Subject Groups |
All Subjects |
List of Roles |
Explanatory Notes
Instructions
| B3B33ROB1 |
Robotics |
| Roles: | P |
Extent of teaching: | 2P+2L |
| Department: | 13133 |
Language of teaching: | CS |
| Guarantors: | Petrík V. |
Completion: | Z,ZK |
| Lecturers: | Petrík V. |
Credits: | 6 |
| Tutors: | Kovář D., Krsek P., Petrík V., Smutný V. |
Semester: | Z |
Web page:
https://cw.fel.cvut.cz/wiki/courses/b3b33rob1/start
Anotation:
Study targets:
The course is an introduction to robotic manipulation and its aim is to introduce students to typical tasks that need to be solved before deploying robots in real operation. Such a task is, for example, finding the trajectory of a welding robot so that it follows a specified edge of the component to be welded during its tool movement while keeping its body from hitting obstacles in its environment. The main part of the course is devoted to the kinematic description of the robotic manipulator and the solution of the corresponding kinematic problems: solution of the direct/inverse kinematic problem, motion planning and trajectory calculation. However, the dynamic description of manipulators and their control methods are also shown using simple examples. Finally, simple applications of machine learning methods for manipulator robotics are demonstrated. As part of the exercise, students will program a toolbox for manipulation robotics, which they will then use to solve a term paper on industrial robots.
Course outlines:
| 1. | | Configuration space and motion representation |
| 2. | | Direct kinematics of open kinematic chains |
| 3. | | Differential kinematics and statics |
| 4. | | Inverse kinematics |
| 5. | | Fundamentals of vision in robotics |
| 6. | | Path and trajectory generation |
| 7. | | Motion planning |
| 8. | | Closed kinematic chains |
| 9. | | Robot dynamics and control methods |
| 10. | | Advanced robot control methods |
| 11. | | Collaborative robots |
| 12. | | Task and motion planning for manipulation |
| 13. | - | 14. Introduction to Artificial Intelligence in Robotics |
Exercises outline:
| 1. | | Introduction of the structure of the robotic toolbox in Python and automatic testing/scoring, implementation of transformations in SE2/SE3 |
| 2. | | Implementation of a direct kinematic task for a planar manipulator and demonstration of the visualization tool in the toolbox |
| 3. | | Calculating the Jacobian for a planar robot numerically and analytically |
| 4. | | Solution of inverse kinematics |
| 5. | | Transformation between camera and robot, demonstration of homography and calibration |
| 6. | | Path interpolation for object grasping, selection of appropriate configuration |
| 7. | | Motion planning |
| 8. | | Demonstration of working with robots in the lab, safety of working with robots. Exercise is conducted in JP-B-415 for robots. |
| 9. | | Consultation for term papers. |
| 10. | | Consultation for term papers. |
| 11. | | Dynamic control of robots. |
| 12. | | Consultation for term papers. |
| 13. | | Consultation for term papers. |
| 14. | | Submission of term papers. |
Literature:
* Lynch, Kevin M., and Frank C. Park. 2017. Modern Robotics. Cambridge University Press. Free preprint available at
http://hades.mech.northwestern.edu/index.php/Modern_Robotics, including accompanying software and videos.
* Study materials published by the teachers at the course web page.
Requirements:
Linear algebra, calculus basics, geometry, physics and Python programming in the span of bachelor program KyR.
Keywords:
Robotics, kinematics, robot control
Subject is included into these academic programs:
| Page updated 20.4.2024 12:52:39, semester: Z,L/2023-4, Z/2024-5, Send comments about the content to the Administrators of the Academic Programs |
Proposal and Realization: I. Halaška (K336), J. Novák (K336) |