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Course info
KKY / URM
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Course description
Department/Unit / Abbreviation
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KKY
/
URM
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Academic Year
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2023/2024
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Academic Year
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2023/2024
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Title
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Introduct. to Robotics and Mechatronics
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Form of course completion
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Exam
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Form of course completion
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Exam
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Long Title
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Introduction to Robotics and Mechatronics
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Accredited / Credits
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Yes,
6
Cred.
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Type of completion
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Combined
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Type of completion
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Combined
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Time requirements
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Lecture
3
[Hours/Week]
Tutorial
2
[Hours/Week]
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Course credit prior to examination
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Yes
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Course credit prior to examination
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Yes
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Automatic acceptance of credit before examination
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Yes in the case of a previous evaluation 4 nebo nic.
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Included in study average
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YES
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Language of instruction
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Czech
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Occ/max
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Automatic acceptance of credit before examination
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Yes in the case of a previous evaluation 4 nebo nic.
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Summer semester
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0 / -
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0 / -
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0 / -
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Included in study average
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YES
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Winter semester
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0 / -
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18 / -
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0 / -
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Repeated registration
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NO
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Repeated registration
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NO
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Timetable
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Yes
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Semester taught
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Winter semester
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Semester taught
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Winter semester
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Minimum (B + C) students
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10
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Optional course |
Yes
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Optional course
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Yes
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Language of instruction
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Czech
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Internship duration
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0
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No. of hours of on-premise lessons |
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Evaluation scale |
1|2|3|4 |
Periodicity |
každý rok
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Evaluation scale for credit before examination |
S|N |
Periodicita upřesnění |
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Fundamental theoretical course |
No
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Fundamental course |
Yes
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Fundamental theoretical course |
No
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Evaluation scale |
1|2|3|4 |
Evaluation scale for credit before examination |
S|N |
Substituted course
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None
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Preclusive courses
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N/A
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Prerequisite courses
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N/A
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Informally recommended courses
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N/A
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Courses depending on this Course
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N/A
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Histogram of students' grades over the years:
Graphic PNG
,
XLS
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Course objectives:
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The aim of the course is to acquaint students with basic knowledge of robotics and mechatronics, and provide a theoretical basis for the design of control systems in this area.
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Requirements on student
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To obtain the credit an inspection test and elaboration of seminar work are required.
For the final exam, the understanding and ability to apply the course topics are required.
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Content
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Robotics part:
1. Introduction to the robotics (basics and history of the robotics). Architectures and fundamental terminology of the robots (opened/closed kinematic chain, end effector, joints, joint space, operational space, degrees of freedom, redundancy, singularity, basic types of actuators). Requirements on robots (sort of workspace, accuracy, repeatability, velocity, acceleration and force dependencies)
2. Coordinates systems, basic transformations of coordinates systems (elementary transformations - rotation, translation and their compositions). Transformation of vectors.
3. Direct geometric model of serial and parallel robots (locations of the end effector as a function of the joint variables). Solvability and methods of solving. Inverse geometric model of serial and parallel robots (joint variables as a function of the locations of the end effector). Solvability and methods of solving.
4. Direct kinematic model of serial and parallel robots (velocities of the end effector as a function of the joint velocities). Jacobian matrix. Inverse kinematic model of serial and parallel robots (joint velocities as a function of the velocities of the end effector). Jacobian matrix. Velocity and force dependencies. Velocity-force duality. Singular configurations, their analysis and effect on the control of the robots.
5. Workspace of the robot, dynamic model of the robot (Euler-Lagrange and Newton-Euler formulations).
6. Motion control and trajectory planning of the robot. Point to point movement of the end effector with respect to required shape of a trajectory. Velocity, acceleration, (eventually time-derivative of acceleration) constraints of the movement and methods of solving.
Mechatronics part:
7. Introduction to the robotics (basics and history of the robotics).
8. Some concepts of structural dynamics (equation of motion of discrete systems, vibration modes, modal decomposition, continuous structures).
9. Dynamics of electrical networks (capacitor, inductor, voltage and current sources, Kirchhoff's laws, Hamilton's principle and Lagrange's equation for electric networks, examples)
10. Actuators, piezoelectric materials, and active structures (constitutive equations of piezoelectric systems, piezoelectric laminates, active and passive damping with piezoelectric transducers)
11. Active vibration isolation (passive isolator, the "sky-hook" damper).
12. State space approach to vibration control (pole placement method, LQG regulator, control of active cantilever beam).
13. Discussion.
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Activities
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Fields of study
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Guarantors and lecturers
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Literature
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Time requirements
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All forms of study
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Activities
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Time requirements for activity [h]
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Preparation for an examination (30-60)
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50
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Contact hours
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39
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Graduate study programme term essay (40-50)
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40
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Preparation for formative assessments (2-20)
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10
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Practical training (number of hours)
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26
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Total
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165
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Prerequisites
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Knowledge - students are expected to possess the following knowledge before the course commences to finish it successfully: |
prokázat základní znalosti z lineární algebry (operace s maticemi, vektory, základní vlastnosti) |
prokázat základní znalosti z fyziky (mechanika tuhého tělesa) |
prokázat základí znalosti z geometrie (trigonometrie) |
Skills - students are expected to possess the following skills before the course commences to finish it successfully: |
vyřešit soustavy lineárních rovnic |
vyřešit soustavy jednoduchých nelináerních rovnic |
analyzovat vlastnosti soustavy lineárních rovnic |
pracovat s goniometrickými funkcemi |
řešit základní geometrické úlohy |
Competences - students are expected to possess the following competences before the course commences to finish it successfully: |
N/A |
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Learning outcomes
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Knowledge - knowledge resulting from the course: |
teorie z vybraných problémových oblastí v robotice |
reprezentace obecného prostorového pohybu v robotice |
z řešení přímé a inverzní kinematické úlohy |
z problematiky singulárních poloh manipulátorů a její řešení |
z možnosti plánování pohybu robotů |
možností reprezentací kinematiky manipulátorů (Denavit Hartenbergova úmluva) |
Skills - skills resulting from the course: |
v možnostech analýzy kinematického chování jednoduchých manipulátorů |
z oblasti aplikace prostorových transformací pohybu tuhého tělesa (soustavy tuhých těles) |
v možnostech analýzy a řešení kinematických transformací (úloh) pro manipulátory |
v možnostech realizace jednoduchých generátorů pohybu pro roboty |
Competences - competences resulting from the course: |
N/A |
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Assessment methods
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Knowledge - knowledge achieved by taking this course are verified by the following means: |
Combined exam |
Skills - skills achieved by taking this course are verified by the following means: |
Combined exam |
Competences - competence achieved by taking this course are verified by the following means: |
Seminar work |
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Teaching methods
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Knowledge - the following training methods are used to achieve the required knowledge: |
Lecture |
Task-based study method |
Skills - the following training methods are used to achieve the required skills: |
Practicum |
Individual study |
Competences - the following training methods are used to achieve the required competences: |
Task-based study method |
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