Home/ Majors directory/Telecommunications and Radio Engineering/Robotics and control systems
Robotics and control systems
Major: Telecommunications and Radio Engineering
Code of subject: 6.172.00.O.034
Credits: 6.00
Department: Radioelectronic Appliances and Systems
Lecturer: Senior lecturer Protasevych V.H.
Semester: 5 семестр
Mode of study: денна
Завдання: The study of an educational discipline involves the formation of competencies in students of education:
general:
1. ZK2. Ability to apply knowledge in practical situations.
2. ZK4. Knowledge and understanding of the subject area and understanding of professional activity.
3. ZK7. Ability to learn and master modern knowledge.
4. ZK13. Ability to system thinking.
professional:
1. PC4. The ability to perform computer modeling of devices, systems and processes using universal application program packages.
2. PC6. Ability to perform instrumental measurements in information and telecommunication networks, telecommunication and radio engineering systems.
3. PC9. Ability to accept and develop new equipment in accordance with current regulations.
4. PC10. Ability to carry out installation, adjustment, adjustment, adjustment, experimental verification of performance, testing and commissioning of facilities, means and equipment of telecommunications and radio engineering.
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: In the process of teaching the discipline, the following issues are considered: the history of development and classification of robots; structure of robots and its constituent parts; work management methods and systems; manipulator robots; kinematic and dynamic models; manipulator control systems with a closed circuit; assessment of performance, accuracy and stability of manipulators; mobile robots; their kinematic models; definition of maneuverability, controllability and degree of freedom of mobs. robots; control of mobile robots based on P-, PI- and PID-regulators.
Опис: 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).
Критерії оцінювання результатів навчання: 00–88 points – (“excellent”) is awarded for a high level of knowledge (some inaccuracies are allowed) of the educational material of the component contained in the main and additional recommended literary sources, the ability to analyze the phenomena being studied, in their relationship and development, clearly, succinctly, logically, consistently answer the questions, the ability to apply theoretical provisions when solving practical problems; 87–71 points – (“good”) is awarded for a generally correct understanding of the educational material of the component, including calculations, reasoned answers to the questions posed, which, however, contain certain (insignificant) shortcomings, for the ability to apply theoretical provisions when solving practical tasks; 70 – 50 points – (“satisfactory”) awarded for weak knowledge of the component’s educational material, inaccurate or poorly reasoned answers, with a violation of the sequence of presentation, for weak application of theoretical provisions when solving practical problems; 49-26 points - ("not certified" with the possibility of retaking the semester control) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to apply theoretical provisions when solving practical problems; 25-00 points - ("unsatisfactory" with mandatory re-study) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to navigate when solving practical problems, ignorance of the main fundamental provisions.
Порядок та критерії виставляння балів та оцінок: 00–88 points – (“excellent”) is awarded for a high level of knowledge (some inaccuracies are allowed) of the educational material of the component contained in the main and additional recommended literary sources, the ability to analyze the phenomena being studied, in their relationship and development, clearly, succinctly, logically, consistently answer the questions, the ability to apply theoretical provisions when solving practical problems; 87–71 points – (“good”) is awarded for a generally correct understanding of the educational material of the component, including calculations, reasoned answers to the questions posed, which, however, contain certain (insignificant) shortcomings, for the ability to apply theoretical provisions when solving practical tasks; 70 – 50 points – (“satisfactory”) awarded for weak knowledge of the component’s educational material, inaccurate or poorly reasoned answers, with a violation of the sequence of presentation, for weak application of theoretical provisions when solving practical problems; 49-26 points - ("not certified" with the possibility of retaking the semester control) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to apply theoretical provisions when solving practical problems; 25-00 points - ("unsatisfactory" with mandatory re-study) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to navigate when solving practical problems, ignorance of the main fundamental provisions.
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
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