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Lecturer(s)
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Vojta Stanislav, Ing. Ph.D.
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Pavelka František, Ing.
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Course content
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Significant part of the course is focused on design of robots, including overview of actuators, sensors and control system. Overview of further topics like motion planning and control, grasping of objects, effectors, autonomous systems, navigation and special topics as service robots, robots for medical applications, artificial intelligence in robotics, etc. is given. Lectures: 1. Contents of the course, requirements, literature. Introduction - history overview, robot classification of robots and manipulators, examples. Robot market development. 2. - 3. Repetition of fundamentals of mechanics Kinematics and dynamics robotic manipulators, forward and inverse problem, D-H principle. 4. - 6. Programming of industrial robots - online, offline. Using of proprietary SW tools. Using of Robotics Module in Siemens Technomatics. Virtual model of robotic workplace in Siemens Technomatics - Process Simulate. 7. Effectors for robotic manipulators, grasping of objects. 8. Service robotics - introduction, locomotion, control system 9. Sensors for industrial and service robotics. 10. Robotic vision. 11. Navigation and localization 12. Application of robotics in medicine. Cobots. Other applications of robotics and trends in robotics. Unmanned vehicles, robots for undersea research, reconfigurable robots, downsizing (micro a nanorobotics). co-existence of humans and robots (psychological aspects of robotics) 13. External lecturer - system integrator / manufacturer of industrial robots. Alt. excursion. Cvičení : 1. Tools for modeling and simulation of robotic mechanisms - an overview. 2. Kinematics of robotic manipulators - examples, derivation of equations for particular manipulator. 3. Kinematics and dynamics of robotic manipulators - examples. Modeling of robotic manipulators in MATLAB with using of Robotics Tbx., SimMechanics, etc. 4.-7. Programming of industrial robots - online, offline. Using of proprietary SW tools. Using of Robotics Module in Siemens Technomatics. Virtual model of robotic workplace in Siemens Technomatics - Process Simulate. Working on project no.1. 8. Robotic vision - recognition of a scene and objects. 9. - 11. Service robotics (mobile robots) - introduction to programming (Arduino), control of servos and motors, sensor signal processing. Programming of mobile robots, AGVs - using compass, accelerometers, gyroscopes, GPS for navigation and localization tasks 12. - 13. Working on semester project no.2, presentation.
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Learning activities and teaching methods
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Lecture supplemented with a discussion, Lecture with practical applications, One-to-One tutorial, Laboratory work, Task-based study method, Individual study, Self-study of literature
- Preparation for an examination (30-60)
- 30 hours per semester
- Contact hours
- 52 hours per semester
- Individual project (40)
- 40 hours per semester
- Presentation preparation (report) (1-10)
- 5 hours per semester
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| prerequisite |
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| Knowledge |
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| to use independently teoretical knowledge from mechanics, stress and strain, machine elements and fundamentalds of design in designing of machines and equipment |
| Knowledge in the range of the previous study at the university is supposed. |
| to gain further professional knowledge by self-study |
| to use his/her professional knowledge at least in one foreign language |
| Skills |
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| to gain further professional experience |
| to use his/her professional skills at least in one foreign language |
| to use independently his/her knowledge of fundamental theoretical disciplines in solving of practical tasks in the field of designing machines and equipment |
| Competences |
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| N/A |
| N/A |
| N/A |
| learning outcomes |
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| Knowledge |
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| to evaluate pros and cons of robotic systems |
| to gain further professional knowledge by self-study |
| to use his/her professional knowledge at least in one foreign language |
| to communicate information about problems connected with applications of robotics |
| Skills |
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| to gain further professional experience |
| to use his/her theoretical knowledge to solve practical tasks |
| to design selected robotic subsystems with use of gained theoretical and practical knowledge |
| Competences |
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| N/A |
| N/A |
| teaching methods |
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| Knowledge |
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| Lecture supplemented with a discussion |
| Self-study of literature |
| Individual study |
| One-to-One tutorial |
| Interactive lecture |
| Project-based instruction |
| Students' portfolio |
| E-learning |
| Skills |
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| Task-based study method |
| Laboratory work |
| Project-based instruction |
| E-learning |
| assessment methods |
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| Knowledge |
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| Oral exam |
| Skills demonstration during practicum |
| Skills |
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| Skills demonstration during practicum |
| Project |
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Recommended literature
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Robot Academy.
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Springer Handbook of Robotics. Springer, 2007. ISBN 978-3540239574.
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Bolton, W. Mechatronics : electronic control systems in mechanical and electrical engineering. Seventh edition. 2019. ISBN 978-1-292-25097-7.
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Carbone, Giuseppe. Grasping in Robotics. London : Springer, 2013. ISBN 978-1-4471-4663-6.
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Dudek, Gregory; Jenkin, Michael. Computational principles of mobile robotics. Cambridge : Cambridge University Press, 2010. ISBN 978-0-521-69212-0.
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Grepl, Robert. Kinematika a dynamika mechatronických systémů. Vyd. 1. Brno : Akademické nakladatelství CERM, 2007. ISBN 978-80-214-3530-8.
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Choset, Howie M. Principles of robot motion : theory, algorithms, and implementation. Cambridge : MIT Press, 2005. ISBN 0-262-03327-5.
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Kolíbal, Zdeněk; Knoflíček, Radek. Morfologická analýza stavby průmyslových robotů. Košice : Vienala, 2000. ISBN 80-88922-27-5.
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Kurfess, Thomas R. Robotics and automation handbook. Boca Raton : CRC Press, 2005. ISBN 0-8493-1804-1.
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Margolis, Michael. Arduino cookbook. 2nd ed. Sebastopol : O'Reilly, 2012. ISBN 978-1-449-31387-6.
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McRoberts, Michael. Beginning Arduino. New York : Apress, 2010. ISBN 978-1-4302-3240-7.
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Novák, Petr. Mobilní roboty : pohody, senzory, řízení. Praha : BEN - technická literatura, 2005. ISBN 80-7300-141-1.
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Piskač, Luděk. Průmyslové roboty. Plzeň : Západočeská univerzita, 1999. ISBN 80-7082-554-5.
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Piskač, Luděk. Průmyslové roboty. Plzeň : Západočeská univerzita, 2004. ISBN 80-7043-278-0.
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Rocon, Eduardo; Pons, José L. Exoskeletons in rehabilitation robotics : tremor suppression. Berlin : Springer, 2011. ISBN 978-3-642-17658-6.
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Siegwart, Roland; Nourbakhsh, Illah Reza,; Scaramuzza, Davide. Introduction to autonomous mobile robots / Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza. 2nd ed. Cambridge : MIT Press, 2011. ISBN 978-0-262-01535-6.
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Talácko, Jaroslav; Matička, Robert. Konstrukce průmyslových robotů a manipulátorů. Praha : Vydavatelství ČVUT, 1995. ISBN 80-01-01291-3.
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