Winter Semester 2010/11
Winter Semester 2011/12
Winter Semester 2012/13
Winter Semester 2013/14
Winter Semester 2014/15
Industrial robots MARS15001A
Course content: Rotation matrix, homogenized transform. Denavit-Hartenberg parameters. Forward and inverse kinematics. Velocity propagation, static forces. Jacobian. Dynamics: rigid body dynamics, articulated multi-body dynamics, Newton_Euler formulation, recursive algorithm, Lagrange formulation. Linear and non-linear control. Force control. Robot classyfication. Structure of industrial robots. Industrial robots control
Learning outcomes: Students should have competence in designing manipulators, knowledge basic algorithms for computing velocities, accelerations and forces in robotic systems.
(in Polish) Rodzaj przedmiotu
Course coordinators
Bibliography
a) basic references:
1. Honczarenko J. (2004). Roboty przemysłowe, WNT, Warszawa
2.Craig J.J. (1995), Wprowadzenie do robotyki,WNT, Warszawa.
3.Kozłowski K., Dutkiewicz P., Wróblewski W. (2003), Modelowanie i sterowanie robotów, PWN Warszawa.
4.Morecki A.,Knapczyk J. (1999), Podstawy robotyki ,WNT, Warszawa.
5.Spong M.W., Vidyasagar M. (1997), Dynamika i sterowanie robotów, WNT, Warszawa.
b) supplementary references:
1.Leyko J. (1968), Mechanika ogólna, PWN, Warszawa.