Course detail

Robotics

FIT-ROBAcad. year: 2014/2015

Basic components of the stationary industrial robots. Kinematic chains. Kinematics. Solution of the inverse kinematic task. Singularities. Dynamics. Equations of motion. Path planning. Robot control. Elements and structure of the mobile robots. Models and control of mobile robots. Sensoric systems of mobile robots. Localization and navigation. Environment maps. Man-machine interface, telepresence. AI in robotics. Microrobotics.

Language of instruction

Czech

Number of ECTS credits

Mode of study

Not applicable.

Guarantor

Ing. Filip Orság, Ph.D.

Department

Department of Intelligent Systems (UITS)

Learning outcomes of the course unit

The students acquire knowledge of current state and trends in robotics. Also, they acquire practical knowledge from construction and use of robots.

Prerequisites

There are no prerequisites

Co-requisites

Not applicable.

Planned learning activities and teaching methods

Not applicable.

Assesment methods and criteria linked to learning outcomes

Study evaluation is based on marks obtained for specified items. Minimimum number of marks to pass is 50.

Course curriculum

    Syllabus of lectures:
    1. History, evolution, and current trends in the robotics. Basic robotics. Robotic applications. Hobby robotics.
    2. Overview of the stationary and mobile robots. The most famous robotic projects. Use in the civil and military applications. Characteristic parameters, kinematic structures.
    3. Kinematics and statics. Direct and inverse task of kinematics.
    4. Path planning and movement dynamics of the stationary robots.
    5. Models and control of the stationary robots.
    6. Effectors and sensors. Types and their applications.
    7. Basic parameters of the mobile robots. Model and control of the wheel mobile robots.
    8. Robot Operating System (ROS), philosophy of ROS, nodes, communication among them.  
    9. Basic algorithms of the robotic vision. Applications of the cameras, laser distance meters, and sonars.
    10. Map-building and localisation of the robot. Analysis of the known methods. Examples.
    11. Global and local navigation of the mobile robots. Means of the navigation. Examples.
    12. Methods of the planning and problem solving.
    13. Local and global methods of the path planning. Path planning in a complex environment with obstacles.

    Syllabus of laboratory exercises:
    1. Lego Mindstorms
    2. Basics of ROS, sensor reading
    3. Advanced work in ROS

    Syllabus - others, projects and individual work of students:
    Project implemented on some of the robots from FIT.

Work placements

Not applicable.

Aims

To inform students about current state and future of robotics. Also, to inform students about peculiarities of robotic systems and prepare them for introduction of robotic systems to industry.

Specification of controlled education, way of implementation and compensation for absences

  1. Mid-term written test.
  2. Evaluated project with a defence.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Nolfi, S., Floreano, D.: Evolutionary Robotics : The Biology, Intelligence, and Technology of Self-Organizing Machines (Intelligent Robotics and Autonomous Agents), Bradford Books, 2004, ISBN 0262640562 Holland, J., M.: Designing Autonomous Mobile Robots: Inside the Mind of an Intelligent Machine, 2003, ISBN 0750676833 Craig, J., J.: Introduction to Robotics: Mechanics and Control, Prentice Hall, 2003, ISBN 0201543613 Sciavicco, L., Siciliano, B.: Modelling and Control of Robot Manipulators (Advanced Textbooks in Control and Signal Processing), Springer Verlag, 2000, ISBN 1852332212 Murphy, R., R.: An Introduction to AI Robotics (Intelligent Robotics and Autonomous Agents), Bradford Books, 2000,  ISBN 0262133830  Laumond, J., P.: Planning Robot Motion, Springer-Verlag, 1998, ISBN 3540762191   Spong, M., Vydyasagar, M.: Robot Dynamics and Control, J. Willey, 1989, ISBN 047161243X

Recommended reading

Craig, J., J.: Introduction to Robotics: Mechanics and Control, Prentice Hall, 2003, ISBN 0201543613 Murphy, R., R.: An Introduction to AI Robotics (Intelligent Robotics and Autonomous Agents), Bradford Books, 2000,  ISBN 0262133830 Šolc, F.: Robotické systémy, VUT v Brně, 1990

Classification of course in study plans

  • Programme IT-MSC-2 Master's

    branch MBI , 0 year of study, winter semester, elective
    branch MBS , 0 year of study, winter semester, elective
    branch MIN , 0 year of study, winter semester, compulsory-optional
    branch MIS , 0 year of study, winter semester, elective
    branch MMI , 0 year of study, winter semester, elective
    branch MMM , 0 year of study, winter semester, elective
    branch MPV , 0 year of study, winter semester, elective
    branch MSK , 0 year of study, winter semester, elective
    branch MGM , 0 year of study, winter semester, elective