Robotics

COURSE CONTENT

Introduction to industrial robots – Kinematic problem. Transformations in space. – Kinematic equations – Solutions of the inverse kinematic problem – Speeds and static forces – Trajectory calculation in Cartesian space – Interpolation in joint space – Position control of a robot with many degrees of freedom – control systems referred to the Cartesian coordinate system – Compliance control. Force sensors. Force control algorithms – Natural and artificial restrictions. Hybrid position/force control – Programming languages ​​and industrial robots – Applications of industrial robots.

Along with the course, students practice on laboratory exercises that include programming robots, design and programming robotic cell in simulation. In addition, students prepare a project in small groups.

LEARNING OUTCOMES

The course constitutes a first, comprehensive, introduction to the basic notions of the theory and practice of robotic systems. Upon successful completion of the course the student will be in position to:

• Understand the concept of kinematic problem and space transformations.
• Solve the forward and inverse kinematic problem of robotic arms.
• Study and analyze the arm’s velocities, forces and trajectories.
• Design controllers and motion systems.
• Understand and study force sensors, force control algorithms and hybrid position/force control.
• Programming industrial robots.
• Design robotic systems and cells in simulation environments.