Introduction to Robotics

Higher education teachers: Munih Marko
Collaborators: Podobnik Janez
Credits: 5
Semester: winter
Subject code: 64126



Subject description

Prerequisits:

  • Enrolment in the year of the course, exams passed in Mathematics I/II, Mechanics and termodynamics.

Content (Syllabus outline):

Introduction (industrial robot manipulator, robot vehicles, man-robot systems, biologically inspired robots, serial chain of segments and joints); Homogenious transformations (position, orientation, pose, traslation, perspective); Scalar Denavit-Hartemberg geometric model of robot mechanism (cylindrical, spherical, SCARA, antropomorphic, spheric wrist); Vector model of robot mechanism (cylindrical, spherical, SCARA, anthropomorphic, spheric wrist); Inverse geometry model of robot mechanism, Rotation and orientation (Euler and RPY angles, Rodrigues formula, quaternions).

Objectives and competences:

Introduction to robotics is a course, where the student first meets the robots. The course deals with geometrical models of robot mechanisms in a very general way that the knowledge is efficiently used also in problems on the fields of virtual environment, machine vision and computer graphics. For the lab part of the course students are grouped into small groups to acquire skills in industrial robot programming and use of robotic CAD tools.

Intended learning outcomes:

Knowledge and understanding:Knowledge about pose descriptions with homogenious transformation matix, understanding various approaches to the design of geometry models in robot mechanisms, understanding different types of orientation and rotation description.

Learning and teaching methods:

Students have available books with condensed content. Within the lectures there is presented larger number of cases for each chapter. Some robot areas are presented by using "video lectures" (robots in medicine, entertainment robotics, walking robots, mobile robots, robot grippers, service robotics, robot vision, rehabilitation robotics). Regularly are invited speakers from Slovenian industry and research institutes. Occasionally are invited speakers form abroad. Lab exercises offer also work on larger number of modern industrial robots. Students cooperate in smaller groups. Special care is taken to a security issues in proximity with robots.





Study materials

  1. T. Bajd, M. Mihelj, M. Munih: Introduction to robotics, Springer, 2013.
  2. T. Bajd, J. Lenarčič, M. Mihelj, A. Stanovnik, M. Munih: Robotics, Springer, 2010.
  3. T. Bajd, M. Mihelj, M. Munih: Osnove robotike, Založba FE in FRI, 2011.
  4. J.B. Kuipers: Quaternions and Rotation Sequences, Princeton University Press, Princeton, 1999.
  5. L. Sciavicco, B. Siciliano: Robotics: Modelling, Planning and Control, Springer, 2009.



Study in which the course is carried out

  • 3 year - 1st cycle - Electrical Enginnering - Information and Communication Technologies
  • 3 year - 1st cycle - Electrical Enginnering - Control Engineering
  • 3 year - 1st cycle - Electrical Enginnering - Electronics
  • 3 year - 1st cycle - Electrical Enginnering - Power Engineering and Mechatronics