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Higher Education Technical Challenges Hub: Module Specification

ICT19M2 Advanced Industrial Robotics

pdf version of module specification

Download the module specification

pdf version of module specification


Module:

Programme:

ICT

ECTS:

6

Type:

Masters

Module name:

Advanced Industrial Robotics


Scope and form:

The purpose of this module is to introduce students to basics of modeling, design, planning, and control of robot systems. In essence, the material treated in this module is a brief survey of relevant results from geometry, kinematics, statics, dynamics, and control. The module is presented in a standard format of lectures, readings and problem sets. There will be an in-class midterm and final examination. These examinations will be open book. A problem set will be distributed once a week and will be due 7 days later. All homework is to be done individually and will be graded.


Duration (weeks; Hours/week):

13 weeks, 6h/week

Type of assessment:

The final grade will be a weighted average of a) Homeworks - 30%, b) Midterm - 25% and c) Final - 45%

Qualified Prerequisites:

Bsc in Engineering


General module objectives:

This module is designed so that it provides the student with the basic knowledge and understanding of the concepts and technologies involved in Industrial Robotic systems and their use in handling applications. The objective of the module is for the candidates to have an idea of how a robot arm works (hardware & software) and to know also the mathematical tools for the description of position/orientation and motion of rigid bodies and open chains of bodies (robot arms) in space. Moreover, the students will have to acquire knowledge and skills regarding robot motion planning and control as encountered in typical robotized industrial processes.


Topics and short description:

Robot applications, robot arm structure
Position and orientation of rigid bodies in space,
Robot kinematics,
Rigid body motion/velocities
Jacobians of robot manipulators,
Trajectory planning,
Robot manipulator dynamics and control.
Hybrid Position-force Control


Learning outcomes:

Knowledge

Skills

Competences

Develop an understanding of how a robot arm works (hardware & software)

Critically evaluate new robotics technologies and present information in a concise report

Analyze the design principles, architectures and control in robot arm systems

Develop an understanding of mathematical tools for the description of position/orientation and motion of rigid bodies and open chains of bodies (robot arms) in space

Examine different configuration of robotic arms and to be able to model their kinematics and control

Design and optimize algorithms to control robotic arms

Current approaches to robot motion planning and control as encountered in typical robotized industrial processes

Examines current problems and proposed solutions in robot motion planning and control

Design and analyze regarding the robot motion planning and control as encountered in typical robotized industrial processes

Problem formulation, obtaining & analyzing results

Implementing arm robotics control


Recommended literature:

“Robot Modeling and Control”, 2006, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, JOHN WILEY & SONS, INC., ISBN-13: 978-0471649908
“Springer Handbook of Robotics”, 2008, Editors: Siciliano, Bruno, Khatib, Oussama (Eds.), ISBN 978-1-4471-1501-4
“Robotics”, 2010, Bajd, T., Mihelj, M., Lenarčič, J., Stanovnik, A., Munih, M., Springer, ISBN 978-90-481-3776-3
“Robot Motion and Control 2011”, 2012, Editors: Kozlowski, Krzysztof (Ed.), Springer, ISBN 978-1-4471-2343-9
“Robot Mechanisms”, 2013, Lenarcic, Jadran, Bajd, Tadej, Stanišić, Michael M., Springer, ISBN 978-94-007-4522-3
“Latest Advances in Robot Kinematics”, 2012, Lenarcic, Jadran, Husty, Manfred (Eds.), Springer, ISBN 978-94-007-4620-6