CTU FEE Moodle
Advanced robotics
B232 - Summer 23/24
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Advanced robotics - B3M33PRO
| Credits | 6 |
| Semesters | Winter |
| Completion | Assessment + Examination |
| Language of teaching | Czech |
| Extent of teaching | 2P+2C |
Annotation
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.
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 outlines
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.
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
Reza N. Jazar: Theory of Applied Robotics: Kinematics, Dynamics, and Control. Springer, second edition, 2010.
A text book covering the geometry and kinematics of manipulators. Available in th e library of the CTU in Prague.
M. Meloun, T. Pajdla. Inverse Kinematics for a General 6R Manipulator. CTU-CMP?2013-29. 2013.
Algebraic-numeric solution to Inverse kinematic task of a 6R manipulator.
ftp://cmp.felk.cvut.cz/pub/cmp/articles/meloun/Meloun-TR-2013-29.pdf
T. Pajdla. Elements of Geometry for Robotics. 2014.
Geometry and representation of motion.
Available in PDF: cmp.felk.cvut.cz/cmp/courses/PRO/2014/Lecture/PRO-2014-Lecture.pdf
A text book covering the geometry and kinematics of manipulators. Available in th e library of the CTU in Prague.
M. Meloun, T. Pajdla. Inverse Kinematics for a General 6R Manipulator. CTU-CMP?2013-29. 2013.
Algebraic-numeric solution to Inverse kinematic task of a 6R manipulator.
ftp://cmp.felk.cvut.cz/pub/cmp/articles/meloun/Meloun-TR-2013-29.pdf
T. Pajdla. Elements of Geometry for Robotics. 2014.
Geometry and representation of motion.
Available in PDF: cmp.felk.cvut.cz/cmp/courses/PRO/2014/Lecture/PRO-2014-Lecture.pdf
Requirements
A course of basic robotics, e.g. A3B33ROB.