1) Uvod
V uvodnem delu predmeta se bodo študentje seznanili z vpeljevanjem robotov v industrijo in druge dejavnosti v svetu in specifično v Sloveniji, fleksibilna avtomatizacija v industriji.
2) Direktna kinematika robota
primer direktne kinematike planarnega mehanizma, izpeljava kinematičnih enačb, sistem trigonometričnih enačb, rotacijska matrika, vektorski parametri mehanizma, sinteza kinematičnih enačb za splošni serijski mehanizem.
3) Inverzna kinematika robota
primer inverzne kinematike planarnega mehanizma, problem nerealnih rešitev, problem več realnih rešitev, kinematične enačbe v Jacobijevi obliki, numerično reševanje inverzne kinematike z Newton-Raphsonovo metodo.
4) Dinamični model robota
pomen dinamičnega modela, Lagrangeove dinamične enačbe, obravnava enostavnega primera, splošni dinamični model robotskega mehanizma.
5) Načrtovanje robotskih mehanizmov obravnava matematičnih kriterijev za optimalno sintezo robotskega mehanizma, volumen in oblika delovnega prostora, kinematična prilagodljivost, manipulabilnost.
6) Paralelni roboti
primeri paralelnih robotov, posebnosti direktne in inverzne kinematike, prednosti in slabosti uporabe paralelnih robotov.
7) Redundantni roboti
primeri kinematične redundance, osnovni principi obravnave redundantnih robotov, pomen kinematične redundance pri načrtovanju in vodenju robotov, primer humanoidne manipulacije
1) Introduction
Introduction to robotics, robotics in the world and specifically in Slovenia, advantages of flexible automation in industry.
2) Direct kinematics of robots
Example of direct kinematics of a planar mechanism, development of kinematic equations, system of trigonometric equations, rotation matrix, vector parameters of mechanisms, synthesis of kinematic equations for general serial mechanisms.
3) Inverse kinematics of robots
Example of inverse kinematics of a planar mechanism, problem of imaginary solutions, problem of multiple solutions, kinematic equations in Jacobian form, Jacobian matrix, inverse kinematics computed by Newton-Raphson numerical method.
4) Robot dynamic model
Role of dynamic models in robotics, Lagrange dynamic equations, simple examples, general form of a dynamic model
5) Design od robot mechanisms
Mathematical criteria for optimum robot design, workspace volume and workspace form, compactness of robot workspace, kinematic flexibility, manipulability and kinematic index
6) Parallel robots
Examples of parallel robots, characteristics of inverse and direct kinematics computation, advantages and disadvantages of parallel robots relative to robots which posses serial mechanisms.
7) Redundant robots
Examples of kinematic redundancy, basic principles of treating redundant robots, the role of kinematic redundancy in design and control of robot manipulators, examples of humanoid manipulation, human arm as a redundant mechanism in a majority of tasks.