Fundamentals of Robotics

1st Level of Study, 3rd Year, Winter Semester

Students will become familiar with the current state and developments in industrial, service, mobile, and humanoid robotics, including the characteristics of robots and their industrial applications. They will acquire knowledge of robot kinematics and creatively apply it to the design of robot arm motion control algorithms. Students will gain knowledge of robot design, modeling, control, and applications. Using their own virtual robot, they will practice the fundamentals of robot programming in the ABB RobotStudio environment.

1. History, development, and trends in robotics; areas of robot applications.
2. Basic concepts and classification of robots.
3. Kinematic structures of robots, serial and parallel robots, examples of implementations.
4. Kinematic analysis, forward and inverse kinematics, examples of solutions.
5. Drives and gearboxes in robotics.
6. Robot grippers and their designs.
7. Sensors in robotics, intelligent sensors.
8. Mobile robotics, basic types of mobile platforms, trends in mobile robotics.
9. Humanoid and interactive robots.
10. Industrial robots, safety issues and economic aspects, methods of control and programming of industrial robots.
11. Programming of industrial robots using ABB RobotStudio.
12. Applications and operation of robots and robotic workstations.

[1] J. J. Craig, Introduction to Robotics. Mechanics and Control, 3rd ed. New York, NY, USA: Prentice Hall, 2003, 408 pp.
ISBN: 0-13-123629-6.

[2] F. Šolc and L. Žalud, Základy robotiky. Brno, Czech Republic: VUT v Brne, 2002, 61 pp.

[3] L. Jurišica, P. Hubinský, and J. Kardoš, Robotika. Bratislava, Slovakia: STU Bratislava, 2005, 134 pp.

[4] J. Žilková, M. Lešo, and M. Vacek, Riadenie robotov s pohonmi Dynamixel. Košice, Slovakia: TU Košice, 2015, 68pp.
ISBN: 978-80-553-2435-7.

[5] J. Bačík et al., "Pathfinder-development of automated guided vehicle for hospital logistics," IEEE Access, vol. 5, pp. 26892-26900, 2017. ISSN: 2169-3536.

[6] M. Lešo, J. Žilková and M. Vacek, "Robotic manipulator with optical safety system," in 2015 International Conference on Electrical Drives and Power Electronics (EDPE), Tatranská Lomnica, Slovakia, 2015, pp. 389-393, doi: 10.1109/EDPE.2015.7325326.