MSc:AdvancedRobotics old

Advanced Robotics

• Course name: Advanced Robotics
• Course number: R-01
• Area of instruction: Computer Science and Engineering

Administrative details

• Faculty: Computer Science and Engineering
• Year of instruction: 1st year of MSc
• Semester of instruction: 1st semester
• No. of Credits: 5 ECTS
• Total workload on average: 180 hours overall
• Frontal lecture hours: 2 hours per week.
• Frontal tutorial hours: 0 hours per week.
• Lab hours: 2 hours per week.
• Individual lab hours: 2 hours per week.
• Frequency: weekly throughout the semester.
• Grading mode: letters: A, B, C, D.

Course outline

The aim of the course is to extend knowledge in robotic manipulation for research and industrial applications. This course focuses on advanced modeling and control methodologies for different types of robots: with serial, parallel and hybrid architectures, with perfectly rigid and compliant links and joints, with under- constrained and over-constrained architectures. In addition, the course addresses modeling and control of compliant and cable-driven manipulators. The course addresses to several important problems like robot calibration using different approaches, trajectory planning for the redundant robotic work-cells, cooperation human and robot in industrial environment, etc. The objective of the course is to give a knowledge that can be used further for developing optimal robotic-work-cells with higher performances for particular technological processes and their further integration.

Expected learning outcomes

• Understanding particularities of robots with different kinematic structure.
• Solving direct and inverse kinematics problems parallel and hybrid manipulators and defining control algorithm while taking into account particularities of their architecture.
• Using stiffness analysis for computing robot accuracy under loading and for compensation of compliance errors
• Design and control of cable driven parallel manipulators
• Using advantages of antagonistic control to enhance robot performance
• Deriving dynamic models for serial and parallel robotic manipulators
• Singularity analysis for serial and parallel manipulators and calculating singularity-free workspace
• Using robot calibration techniques for parameters identification

Required background knowledge

Students are expected to be proficient in a high level object oriented programming language, preferably Matlab. Strong mathematical background and fundamental knowledge in Robotics also will be expected. Some knowledge of basic probability will also be helpful.

Prerequisite courses

It is recommended to pass “Introduction to robotics” courses before “Advanced robotic manipulation” course to be familiar with fundamentals of robotics.

Detailed topics covered in the course

• Kinematic modeling
• Differential Kinematics
• Singularity analysis
• Elastostatic modeling
• Trajectory planning
• Robot Calibration
• Dynamic modeling
• Redundant robotic work-cells

Reference material

International Journals

• IEEE Transactions on Robotics
• The International Journal of Robotic Research
• Robotics and Computer Integrated Manufacturing
• IEEE Transactions on Automation Science and Engineering
• Mechanism and Machine Theory

International Conferences

• The IEEE International Conference on Robotics and Automation (ICRA)
• The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Required computer resources

Students should have laptops with Microsoft Windows and Matlab.

Evaluation

• Assignments (20%)
• Research Project (20%)
• Quizzes (20%)
• Mid-term exam (20%)
• Final exam (20%)