Fall 2019 Semester
Course Instructor: Dr. Almas Shintemirov
Class Times: Tuesdays, Thursdays 3.00 – 4.15 pm
Prerequisite: ROBT501 Robot Manipulation and Mobility
Course Overview
The Industrial Robotics course builds upon the Robot Manipulation and Mobility course offered in the 1 year of the master program and introduces underlining principles behind industrial robot-manipulators. The course covers the theoretical aspects of robot-manipulator kinematic and dynamic modeling and control system design. Students can expect to learn how to simulate the robots using MATLAB and dedicated robotics software such as Robot Operating System (ROS) and state-of-the-art industrial robot-manipulators. At the end of the course students are expected to know basic robotic technologies and be able to master modelling and advanced control aspects of robots used in industrial and research settings.
Course Objectives
The main learning outcome for the course is to acquire theoretical knowledge and practical skills for analysis and control of industrial robot-manipulators. Specifically, upon completing this course, you should be able to:
- Analyze industrial robot-manipulator mechanical and control architectures.
- Design a control system for a robot-manipulator
- Have a practical experience with offline programming of industrial robot-manipulators
- Self-study and work independently on projects that can be used as part of the master theses
Course Topics
– Review of Robot Kinematics;
– Robot Statics and Dynamics;
– Robot Trajectory Generation;
– Decentralized Robot Control: Independent Joint Control;
– Centralized Robot Control: Gravity Compensation Control, Inverse Dynamics Control;
– Compiant Robot Control: Impedance Control and Direct Force Control
– Projects based on Universal Robots UR5 and UR10 robot-manipulators
Course reference textbooks
- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, 2010
- M. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley, 2006
- L.W. Tsai, Robot Analysis: The Mechanics of Series and Parallel Manipulators, Wiley, 1999
- R. Kelly, V. Santibanez and A. Loria, Control of Robot Manipulators in Joint Space, Springer, 2005
- J. Craig, Introduction to Robotics: Mechanics and Control, 3rd Edition, Pearson, 2005
Example Homework Assignment
