# Subject description - A3M33PRO

Summary of Study | Summary of Branches | All Subject Groups | All Subjects | List of Roles | Explanatory Notes               Instructions
Roles:PO, V Extent of teaching:2P+2L
Department:13133 Language of teaching:CS
Guarantors:  Completion:Z,ZK
Lecturers:  Credits:6
Tutors:  Semester:Z

Anotation:

We will explain and demonstrate techniques for modelling, analyzing and identifying robot kinematics. We will explain more advanced principles of the representation of motion in space and the robot descriptions suitable for identification of kinematic parameters from measured data. We will explain how to solve the inverse kinematic task of 6DOF serial manipulators and how it can be used to identify its kinematic parameters. Theory will be demonstrated on simulated tasks and verified on a real industrial robot.

Study targets:

The goal is do present more advanced methods of analysis and modeling of robot kinematics.

Course outlines:

 1 Introduction, algebraic equations and eigenvalues 2 Motion: Motion as a transformation of coordinates 3 Kinematics: Denavit-Hartenberg convention for a manipulator 4 Solving algebraic equations 5 Motion axis and the rotation matrix 6 Inverse kinematic task of a general 6R serial manipulator I 7. Inverse kinematic task of a general 6R serial manipulator II 8 Rotation reprezentation and parameterization 9 Angle-axis parameterization 10 Quaternions 11 Manipulator calibration 12 Summary and review.

Exercises outline:

 1 Introduction to laboratory, Maple, a-test. 2 Correcting a-test, Maple. 3 Spatial rotations, representations, axis of motion. 4 Modified Denavit-Hartenberg notation. 5 Kinematics of redundant manipulator. 6 Solving algebraic equations. 7 Singular poses of a manipulator and their determination. 8 Task 1: Solving inverse kinematics task for a general 6DOF serial manipulator. 9 Task 1: Solving inverse kinematics task for a general 6DOF serial manipulator. 10 Task 1: Solving inverse kinematics task for a general 6DOF serial manipulator. 11 Task 2: Identification of kinematical parameters of a general 6DOF serial manipulator. 12 Task 2: Identification of kinematical parameters of a general 6DOF serial manipulator. 13 Task 2: Identification of kinematical parameters of a general 6DOF serial manipulator. 14 Presentation of solutions.

Literature:

 H. Asada, J.-J. E. Slotine. Robot Analysis and Control. Wiley-Interscience, 1986. P. Pták. Introduction to Linear Algebra. Vydavatelství ČVUT, Praha, 2007. A. Karger, M. Kargerová: Základy robotiky a prostorové kinematiky, Vydavatelství ČVUT,
Praha, 2000

Requirements:

A course of basic robotics, e.g. A3B33ROB.

Webpage:

http://cw.felk.cvut.cz/doku.php/courses/a3m33pro/start

Keywords:

robotics, kinematics, trajectory, identification, modelling

Subject is included into these academic programs:

 Program Branch Role Recommended semester MPIB Common courses V – MPKME1 Wireless Communication V 3 MPKME5 Systems of Communication V 3 MPKME4 Networks of Electronic Communication V 3 MPKME3 Electronics V 3 MPKME2 Multimedia Technology V 3 MPEEM1 Technological Systems V 3 MPEEM5 Economy and Management of Electrical Engineering V 3 MPEEM4 Economy and Management of Power Engineering V 3 MPEEM3 Electrical Power Engineering V 3 MPEEM2 Electrical Machines, Apparatus and Drives V 3 MPKYR1 Robotics PO 3

 Page updated 3.4.2020 17:51:57, semester: Z,L/2020-1, Z,L/2019-20, Send comments about the content to the Administrators of the Academic Programs Proposal and Realization: I. Halaška (K336), J. Novák (K336)