Module also offered within study programmes:
General information:
Name:
Industrial robots
Course of study:
2013/2014
Code:
RMS-1-504-s
Faculty of:
Mechanical Engineering and Robotics
Study level:
First-cycle studies
Specialty:
-
Field of study:
Mechatronics with English as instruction languagege
Semester:
5
Profile of education:
Academic (A)
Lecture language:
English
Form and type of study:
Full-time studies
Course homepage:
 
Responsible teacher:
dr hab. inż. Lisowski Wojciech (lisowski@agh.edu.pl)
Academic teachers:
dr hab. inż. Lisowski Wojciech (lisowski@agh.edu.pl)
dr hab. inż. Buratowski Tomasz (tburatow@agh.edu.pl)
dr hab. inż, prof. AGH Cieślik Jacek (cieslik@agh.edu.pl)
dr inż. Bednarz Jarosław (bednarz@agh.edu.pl)
dr inż. Klepka Andrzej (klepka@agh.edu.pl)
Module summary

Description of learning outcomes for module
MLO code Student after module completion has the knowledge/ knows how to/is able to Connections with FLO Method of learning outcomes verification (form of completion)
Social competence
M_K001 Can learn systematically, keeps deadlines, accepts the matter-of-fact critique of his/her achievements MS1A_K04, MS1A_K05, MS1A_K02 Examination,
Execution of a project,
Execution of laboratory classes
M_K002 Knows, understands and applies in practice professional code of an engineer MS1A_K03 Report,
Execution of a project,
Execution of laboratory classes
M_K003 Can work in a team respecting partition of duties and responsibilities MS1A_K04 Execution of a project,
Execution of laboratory classes
Skills
M_U001 Can acquire information from professional sources and use it in realization of engineering tasks MS1A_U01, MS1A_U05 Presentation,
Execution of a project,
Execution of laboratory classes
M_U002 Can prepare and carry out presentation of results of realization of engineering tasks MS1A_U04 Presentation,
Report
M_U003 Can write down and interpret description of position and orientation MS1A_U20, MS1A_U08 Examination,
Report,
Execution of laboratory classes
M_U004 Can formulate and solve direct and inverse kinematic problem of manipulators of open manipulator kinematic chain MS1A_U20, MS1A_U08 Examination,
Report,
Execution of a project,
Execution of laboratory classes
M_U005 Is able to program simple manipulating operations of industrial robots MS1A_U02, MS1A_U14 Activity during classes,
Report,
Execution of laboratory classes
M_U006 Can select and design a robot gripper (mechanism, driving system, sensory system and power supply) MS1A_U15, MS1A_U13, MS1A_U11, MS1A_U20, MS1A_U12, MS1A_U03, MS1A_U02, MS1A_U08 Examination,
Execution of a project
M_U007 Can determine positioning repeatability of a robotic manipulator experimentally MS1A_U02, MS1A_U19, MS1A_U09 Examination,
Report,
Execution of laboratory classes
Knowledge
M_W001 Knows structures, principles of designing and manufacturing of links and joints, structure of driving systems, sensor and control systems, applied grippers and tools of manipulating robots MS1A_W05, MS1A_W11, MS1A_W06, MS1A_W13 Examination,
Report,
Execution of a project,
Execution of laboratory classes
M_W002 Knows techniques and tools of on-line and off-line robot programming as well as structure of program of operation MS1A_W05, MS1A_W10 Report,
Execution of laboratory classes
M_W003 Knows principles of manipulator kinematics modelling MS1A_W08, MS1A_W05 Examination,
Report,
Execution of a project,
Execution of laboratory classes
M_W004 Knows definitions of basic parameters and their actual values achieved by industrial robot manipulators MS1A_W05 Examination,
Execution of laboratory classes
M_W005 Knows the manipulator end-effector position and orientation measuring systems MS1A_W05, MS1A_W07 Examination,
Execution of laboratory classes
M_W006 Knows industrial and service applications of manipulating robots MS1A_W05 Examination,
Presentation
FLO matrix in relation to forms of classes
MLO code Student after module completion has the knowledge/ knows how to/is able to Form of classes
Lecture
Audit. classes
Lab. classes
Project classes
Conv. seminar
Seminar classes
Pract. classes
Others
Zaj. terenowe
Zaj. warsztatowe
E-learning
Social competence
M_K001 Can learn systematically, keeps deadlines, accepts the matter-of-fact critique of his/her achievements - - + + - - - - - - -
M_K002 Knows, understands and applies in practice professional code of an engineer - - + + - - - - - - -
M_K003 Can work in a team respecting partition of duties and responsibilities - - + + - - - - - - -
Skills
M_U001 Can acquire information from professional sources and use it in realization of engineering tasks - - + + - - - - - - -
M_U002 Can prepare and carry out presentation of results of realization of engineering tasks - - + + - - - - - - -
M_U003 Can write down and interpret description of position and orientation - - - + - - - - - - -
M_U004 Can formulate and solve direct and inverse kinematic problem of manipulators of open manipulator kinematic chain - - - + - - - - - - -
M_U005 Is able to program simple manipulating operations of industrial robots - - + - - - - - - - -
M_U006 Can select and design a robot gripper (mechanism, driving system, sensory system and power supply) - - - + - - - - - - -
M_U007 Can determine positioning repeatability of a robotic manipulator experimentally - - + - - - - - - - -
Knowledge
M_W001 Knows structures, principles of designing and manufacturing of links and joints, structure of driving systems, sensor and control systems, applied grippers and tools of manipulating robots + - - - - - - - - - -
M_W002 Knows techniques and tools of on-line and off-line robot programming as well as structure of program of operation + - - - - - - - - - -
M_W003 Knows principles of manipulator kinematics modelling + - - - - - - - - - -
M_W004 Knows definitions of basic parameters and their actual values achieved by industrial robot manipulators + - - - - - - - - - -
M_W005 Knows the manipulator end-effector position and orientation measuring systems + - - - - - - - - - -
M_W006 Knows industrial and service applications of manipulating robots + - - - - - - - - - -
Module content
Lectures:
  1. Manipulator’s components and systems (8)

    Classification of contemporary robots. Kinematic structures of manipulators: arm and wrist mechanisms. Links and joints. Driving systems of mechatronic positioning devices. Motion transmission systems. Control systems of manipulating robots.

  2. End-effectors of industrial robots (7)

    Overview of industrial robots’ end-effectors. Automatic assembly. Structures of grippers. Mechanisms of grippers. Vacuum and electromagnetic grippers. Dexterous robot hand. Driving systems of grippers. Sensoric systems of end-effectors. Tool exchange systems – grasps and storages. End-effectors used in technological operations.

  3. Parameters and characteristics of manipulating robots (7)

    Classification and definitions of manipulator parameters and characteristics. Techniques of measurement of the end-effector pose. Robot calibration techniques.

  4. Service robots (7)

    Mobile platforms: elements and systems, modelling, navigation and control.

  5. Industrial applications of robots (4)

    Robitized manufacturing system: auxiliary devices, sensory systems, integration. Dedicated software tools. Methods of safety assurance in robotics.

  6. Mechanics of manipulators (8)

    Description of position and orientation. Manipulator kinematics: direct and inverse problem. Planning of motion path and trajectory. Determination of motion velocity and acceleration. Basics of manipulators’ dynamics.

  7. Basics of industrial robot programming (8)

    Techniques of use of operator-programmer panels. Use of the script type of programming – programming languages. Simulation of robot operation – programming environments.

  8. Off-line industrial robot programming (7)

    Techniques of the off-line programming. Software tools of off-line programming. Methods of implementation of the off-line programs.

  9. Application of service robots (4)

    Examples of applications: professional robots, household robots, personal robots

Laboratory classes:
  1. Testing of robots (15)

    Standards in industrial robotics. Rules of planning and execution of experimental testing, analysis and reporting of results of investigation of manipulating robots. Analysis of manipulator workspace. Testing of positioning repeatability. Testing of manipulator kinematic parameters. Techniques of robot calibration.

  2. Manipulator components and systems (15)

    Driving systems of manipulators. Sensory systems of manipulators. Integration techniques of robot’s components and subassemblies. Manipulator motion control systems.

  3. Programming of robot operation (15)

    Robot programming in laboratory. Robot programming with use of computer simulation tools.

Project classes:
  1. Manipulator design (15)

    Selection of a kinematic structure. Kinematic analysis: direct and inverse kinematics. Planning of a robot end-effector motion path and trajectory. Selection of driving systems. Design of links and joints.

  2. Designing of robot end-effectors (15)

    Characteristics of industrial robots’ grippers – mechanical, vacuum and electromagnetic grippers. Overview of design of grippers – mechanisms, driving systems, and sensors. Operations in automatic assembling. Dexterous robot hands. Tool exchange systems – grasps and storages. End-effectors used in technological operations.

  3. Design of robotized systems (15)

    Examples of computer aided design of robotized manufacturing systems.

Student workload (ECTS credits balance)
Student activity form Student workload
Summary student workload 360 h
Module ECTS credits 12 ECTS
Preparation for classes 60 h
Participation in laboratory classes 45 h
Preparation of a report, presentation, written work, etc. 60 h
Participation in project classes 45 h
Completion of a project 45 h
Realization of independently performed tasks 43 h
Participation in lectures 60 h
Examination or Final test 2 h
Additional information
Method of calculating the final grade:

The course final grade is determined basing on:
- average of the laboratory partial grades (35%)
- the project class grade (35%)
- the exam grade (30%)

Prerequisites and additional requirements:

Prerequisites and additional requirements not specified

Recommended literature and teaching resources:

G. Cook, Mobile Robots: Navigation, Control and Remote Sensing, 2011
K. S. Fu, R. Gonzalez, C.S.G. Lee, “Robotics control, sensing, vision, and intelligence”, Mc Graw Hill 2008
D.T. Pham et all: Robot grippers, Springer Verlag. IFS Ltd., UK, 1986
E. Rivin, Mechanical design of robots, McGraw-Hill, 1988
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, “Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing)”, Springer 2010
M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, John Wiley and Sons, Inc., 2005

Scientific publications of module course instructors related to the topic of the module:

Additional scientific publications not specified

Additional information:

None