Rationale
Learners will first be exposed to the kinematics of rigid bodies, orthogonal coordinate transformations, finite rotations, rotation matrix, open kinematic chain, kinematics and direct and inverse kinematic problems in order to understand the more advanced topics about redundant robotic systems and resolving redundancy robot, dynamics and differential equations of motion for robotic, systems modelling, robotic systems with closed and branched kinematic chains, connection via prismatic or revolute joints. They will also learn about robot actuation and power transmission, modularity and scalability in robot design, including robot control tasks, positioning versus manoeuvring, trajectory planning, task and mission control. Industrial robots are the most complex mechatronic systems. Learners will gain basic knowledge and skills in singularity avoidance in trajectory planning, forward control, gravity compensation, friction compensation, direct and inverse dynamic control. This will be completed with the practical realisation of robot control with PLC and AC drives, including robot control via the vectoring principle. To introduce learners to the robotics system, they will be provided with the basis for running robotic systems with the emphasis on programming and deploying robots in
production. Learners need to acquire basic knowledge of self-programming robotic systems, as one of the most complex mechatronic systems. Finally, learners will be taught about the specific practical issues such as robot tools and grippers, the integration of robots with painting and welding tools, force-torque sensors for safety and assembly tasks, safety equipment in robotics and robot networking for integration, maintenance and service.
Learning Outcomes
Upon successful completion of this study unit, the learner will be able to:
1. Derive a DH notion for an industrial robot and set the inertial parameters for dynamic simulation;
2. Develop a model of an industrial robot for dynamical analysis and choose the motor drives by specified tasks in the operational space;
3. Calculate the trajectories given the velocity profile;
4. Analyse a robot workspace in order to reduce energy use.
Academic Calendar
https://moodle.mcast.edu.mt/mod/resource/view.php?id=75064
Unit Lecturer
Dr Emil Veg
