Course detail

Modeling and Control of Robots and Manipulators

FSI-VRMAcad. year: 2026/2027

After completing the course, the student will be able to:

  • understand kinematic and dynamic modeling of industrial and mobile robots,

  • perform multibody modeling of manipulators and their drive systems,

  • design control structures for robotic systems and evaluate their stability and performance,

  • implement trajectory planning and motion control,

  • build simulation models and digital twins of robots,

  • apply virtual commissioning techniques.

Language of instruction

Czech

Number of ECTS credits

4

Mode of study

Not applicable.

Guarantor

prof. Ing. Zdeněk Hadaš, Ph.D.

Department

Institute of Automation and Computer Science (ÚAI)

Entry knowledge

  • knowledge of linear algebra and basic differential equations,

  • introductory knowledge of automation and control (advantage),

  • basic programming skills,

  • fundamentals of mechanics and dynamics.

Rules for evaluation and completion of the course

 
Attendance at lectures is recommended, attendance at seminars is required. It is at the teacher's discretion to decide how to make up for missed seminars.

Aims

The goal of the subject Programming of robots and manipulators is to introduce students to modern approaches to robotic technology with focus on programming including solving kinematics/dynamics, optimization of movement, Industry 4.0 and utilization of artificial intelligence.
The knowledge of programming industry/mobile robots, manipulators and enables them to extend these skills, integration and deployment in real industry application.

Study aids

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

KOLÍBAL, Zdeněk. Roboty a robotizované výrobní technologie. Brno: Vysoké učení technické v Brně - nakladatelství VUTIUM, 2016. (CS)
SICILIANO, Bruno a KHATIB, Oussama, ed. Springer handbook of robotics. 2nd edition. Berlin: Springer, 2016. (EN)

Recommended reading

ROS.org. ROS.org | Powering the world’s robots. [online]. 2.11.2016 [cit. 2016-11-02]. Dostupné z: http://www.ros.org/ Sebastian Thrun, Wolfram Burgard, and Dieter Fox. (EN)

Classification of course in study plans

  • Programme N-AIŘ-P Master's 1 year of study, summer semester, compulsory

Type of course unit

 

Lecture

13 hod., optionally

Teacher / Lecturer

prof. Ing. Zdeněk Hadaš, Ph.D.

Syllabus

  • Introduction to robotics, robot types, core concepts, architecture of robotic systems

  • Forward and inverse kinematics of robotic manipulators

  • Differential kinematics and Jacobians

  • Dynamic models of robots

  • Multibody modeling of manipulators and drive systems

  • Dynamic simulation of motion, loads, torques

  • Basics of robot control — PID, decoupling, robust control

  • Advanced control — model-based control, feedforward, impedance control

  • Trajectory planning — position, velocity, time-optimal trajectories

  • Modeling robot–environment interaction (contact tasks)

  • Virtual commissioning, digital twin of a robot

  • Integration of robots into production lines — communication, safety, PLC interfaces

  • Trends in robotics — collaborative robots, AMRs, AI in robotics

Laboratory exercise

39 hod., compulsory

Teacher / Lecturer

prof. Ing. Zdeněk Hadaš, Ph.D.

Syllabus

  • Introduction to simulation environment, basic manipulator model

  • Forward and inverse kinematics for a 2–3 DOF robot

  • Numerical differential kinematics, Jacobian computation

  • Multibody model of a simple manipulator

  • Drive simulation — motor, gearbox, friction models

  • Dynamic simulation and torque computation

  • Implementation of basic position control

  • Implementation of advanced control — feedforward/impedance

  • Trajectory generation and simulation

  • Simulation of contacts and robot–environment interaction

  • Virtual commissioning — creation of a robot digital twin

  • Simulation of a robotic cell with sensors/PLC integration

  • Project presentations — complete model + control + simulation