The didactic goal of this class consists in providing the students with the theoretical basics useful to understand the working principles of an industrial robot from different points of view: kinematics, dynamics and control theory. Moreover, the student should acquire an introductive knowledge of the electromechanical components.

D1 - Knowledge and understanding
At the end of the course, students will have to know the basic principles of operation of robots, their functionalities and the mechanical components that are part of them.
D2 - Applying knowledge and understanding
The student must be able to perform a kinematic analysis of a robot.
D3 - Autonomy of judgement
The student should be able to assess what automation strategies to adopt in order to perform a given manipulation function.
D4 - Communication skills
The student should be able to describe the kinematic functionality and characteristics of a robot with proper definition.
D5 - Learning skills
The student must be able to interpret and use technical manuals to program a robot.

Control system theory

Introduction (terminology: link, joint, robotic configurations [redundant, Cartesian])

Kinematics ( pose and rotation matrix, Euler angles, Homogeneous Transform, Homogeneous coordinates, Kinematics)

Denavit Hartenberg notation.

Definition of operative space, joint space, work space, the dexterous space.

Errors: Accuracy and repeatability. Definition and explanation of the calibration process.

Inverse kinematic problem (definition), the structure of the spherical robot wrist.
Differential kinematics, numerical kinematic inversion (inversion algorithm), i.e. robot with three arms.

Manipulability and ellipsoid of manipulability and forces.

PID (definition and structure of a robot with PID control), definition of motion in the joint space or operative space, design of the motor and gear reducer transmission, inertia formula.

Further details on controls for robotics (Anti wind-up, feed forward, notch filter, impedance control)

Robotics
Authors: Mihelj, M., Bajd, T., Ude, A., Lenarčič, J., Stanovnik, A., Munih, M., Rejc, J., Šlajpah, S.
Springer edition

Introduction (terminology: link, joint, robotic configurations [redundant, Cartesian])

Kinematics ( pose and rotation matrix, Euler angles, Homogeneous Transform, Homogeneous coordinates, Kinematics)

Denavit Hartenberg notation.

Definition of operative space, joint space, work space, the dexterous space.

Errors: Accuracy and repeatability. Definition and explanation of the calibration process.

Inverse kinematic problem (definition), the structure of the spherical robot wrist.
Differential kinematics, numerical kinematic inversion (inversion algorithm), i.e. robot with three arms.

Manipulability and ellipsoid of manipulability and forces.

PID (definition and structure of a robot with PID control), definition of motion in the joint space or operative space, design of the motor and gear reducer transmission, inertia formula.

Further details on controls for robotics (Anti wind-up, feed forward, notch filter, impedance control)

The course is taught primarily with frontal teaching at the blackboard and/or with the aid of slides. The MATLAB software suite is used to provide examples and to show how to apply the theoretical aspects. Students are required to complete several exercises to fix notions covered in the course.

Oral exam. Two questions about topics part of the programme. Students shall demonstrate the results of the exercises made during the course. Additional question for honours.