Robotics and control systems

Major: Telecommunications and Radio Engineering
Code of subject: 6.172.00.O.062
Credits: 6.00
Department: Radioelectronic Appliances and Systems
Lecturer: Senior lecturer Protasevych V.H.
Semester: 5 семестр
Mode of study: денна
Learning outcomes: - Acquired knowledge of the peculiarities of the principles of the construction of robots and their control systems. - Отримані знання про принципи математичного опису компонентів роботів і робототехнічних систем. - Ability to calculate parameters and create mathematical models of functional nodes of robots. - Ability to evaluate the quality performance of robots (accuracy, speed, stability). - Possessing the skills of mathematical calculation of mechanical units of robotic devices. - Owning the skills of microcontroller programming of automatic and automated robotic control systems. - Possessing the skills of using control and measuring equipment for setting up and debugging the work of robots.
Required prior and related subjects: Pre-requisites: Functions of a complex variable and operation calculus Fundamentals of circuit theory. Signals and processes in electronics. Analogue electronic devices Co-requisites:Digital devices and microprocessors
Summary of the subject: Classification of robots. Generations of robots. Basic definitions of robotics. Robot's Functional scheme. Program-driven robots, adaptive and intellectual robots. Representation of Denavita-Hartenberg. The equation of the kinematics of the manipulator. Dynamic model of the manipulator. The equation of movement of the manipulator. Calculation of two-level manipulator. Planning the trajectory of the manipulator. Manipulator control systems. Construction of the block diagram of the manipulator. Transmitting function of one joining. Control on the basis of feedback with one articulation of the manipulator. Criteria of workability and stability of robot-manipulators. Calculation of the manipulator in accuracy. The calculation of the error of robot's positioning in degrees of freedom. Mobile robots. Maneuverability of mobile robots. Degrees of mobility and degrees of mobility mob. robots Working field mob robot. Trajectory of movement mob. robots Positioning and navigation mob. robots Robot control systems. Systems with open loop control. (Movement along the line). Systems with closed loop control. Management laws. P-, PI-, and PID-regulators. Sensors. Classification of sensors. Digital and analogue sensors. Positioning devices. Gyroscope, accelerometer, inclinometer, compass. Laser, ultrasound and visual distance meters. Motion and speed sensors. Tactile sensors. Executive mechanisms. DC motors. N bridge Step motors. PWM control. Robots drives. Systems of technical vision. The problem of image recognition and its types. Fundamentals of the theory of analysis and pattern recognition. Segmentation of images. Selection of contours. Software management work. Programming languages for robotic systems. Software simulators.
Assessment methods and criteria: current control (30 %): laboratory work (20 %), control tasks and oral examination (10 %). diffrentiated credit (70 %, written-oral form).
Recommended books: 1. Braunl, Thomas. “Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems”, Second Edition, - Springer-Verlag Berlin, 2006. ISBN-10 3-540-34318-0 2. Nehmzow, U. - “Mobile Robotics: A Practical Introduction”, Springer-Verlag Berlin. 2003. ISBN 1-85233-173-9 3. Murphy Robin R. “Introduction to AI Robotics”, The MIT Press Cambridge, Massachusetts,London, England. 2000 4. Golnaraghi, F.,Kuo, Benjamin C. “Automatic Control Systems” -. Tenth edition, – McGraw Hill, N.Y., 2017. ISBN: 978-1-25-964384-2 5. K.S. Fu, R.C. Gonzalez, C.S.G. Lee “Robotics: Control, Sensing,Vision and Inteligence” - McGraw Hill, N.Y.,1987. ISBN: 0-07-022625-3 6. Perutka Karel. “MATLAB for Engineers: Applications in Control, Electrical Engineering, IT and Robotics “, In Tech , Rijeka , 2011 ISBN 978-953-307-914