Robotics

Short course description

Content of the short-term learning experience

1. Theoretical lectures 
Introduction
Division of robots, standards, statistics.
Kinematics
Spatial descriptions, rotation and translation, homogeneous transformation, Euler and fixed angles, manipulator kinematics, Denavit-Hartenberg parameters, placement of coordinate systems, examples.
Jacobian matrix
Direct kinematics, position representations, propagation of velocity, Jacobian matrix, kinematic singularity, connection of joint / linear movement and velocity/forces, examples.
Dynamics 
Dynamics of internal space, Newton–Euler equations, Lagrange equations, kinetic energy, centrifugal and Coriolis forces, mass and inertia matrix, equation of motion, examples.
Control
Joint space control, velocity control, natural and dissipative systems, PD regulation, disturbance compensation, static error, PID regulation, manipulator control, trajectory tracking, force control, examples.
2. Computer exercises
Matlab and Simulink

• Rotation and translation.
• Homogeneous transformation.
• Euler angles.
• Denavit-Hartenberg.
• Jacobian matrix.
• Direct and inverse kinematics.
• Dynamics and control.

Siemens NX
Kinematics and simulation.

• Creating a kinematic model - Machine tool builder.
• Editing of the processor.

Offline programming.

• Using robots to perform machining operations.
• Arrangement of the robotic cell.
• Control the orientation of the robot's tool.
• Rules for determining the configuration of the robot.
• Determination of robot configurations for robot movement.
• The use of external axis.
• Pick and place operations.
• Individual work.

Simulation exercises in the Robot Studio software environment
Getting to know the software environment.

• Description of the program environment.
• Project design (cells, robot, tools).
• Crating a pick and place program.

Implementation of a robotic cell with three robots.

• Defining the cell.
• Determination of TCP, local coordinate systems.
• Creating a trajectory.
• Writing logic for the collaboration of three robots.

3. Practical exercises
Practical application of ABB and KUKA industrial robots and UR collaborative robots

• Learning about robotic mechanisms and safety requirements.
• Repetition of robotic coordinate systems and their meaning.
• Calibration:
•  - brief description of incremental and absolute encoders.
•  - calibration of KUKA robots.
•  - presentation of the calibration process of ABB and UR robot.

Basics of direct programming

• The use and replacement of grippers.
• Determination of TCP:
•  - after numerical specification of values.
•  - after the four-point XYZ method,
•  - by the method of measuring and/or searching.
• Manual manipulation of the robot:
•  - trajectory tracking, 
•  - pick and place operations.
• Transfer of the program from the software environment to the physical robot, calibration, test, and automatic mode.

Advanced direct programming

• Syntax of different types of robots: 
•  - program statements,
•  - implementation of programs.
• Preparation and implementation of a palletization program with real-time calculation of required positions with an ABB robot.
• Connection to industrial controllers; example: palletization with a KUKA robot.
• Additionally: collaboration of two UR10e robots.

Objectives and competences

The objectives of the course are:

• give an explanation of robot theory;
• present and discuss methods for kinestatic and dynamic modeling and robot control;
• explain the advantages and disadvantages of individual approaches to modeling and control of robots; 
• train students to design robotic cells using advanced computer simulations;
• train students to work with robots and for indirect and direct programming of robots.

The student will acquire the following general competencies:

• ability of individual creative thinking;
• ability of independent engineering and research work;
• independence, creativity, innovation and criticism;
• professional excellence.

Prerequisites for enrolling

Basic knowledge in mathematics, physics, mechanical engineering or computer science.