### Fundamentals of Robotics

#### Course Description

Robot types and their characteristics. Forms and characteristics of robot elements. Position and orientation of rigid body. Denavit-Hartenberg convention. Kinematics and inverse kinematics. Trajectory planning. Interpolation methods. Modeling of robot dynamics. Lagrange-Euler and Newton-Euler methods. Robot control methods. Algorithms for control of coordinates of robot joint servo systems (position, speed, torque and force).

#### Learning Outcomes

1. Apply knowledge of the principles and types of elements of industrial and mobile robotic systems.
2. Explain ways to control and program the robot
3. Analyze and explain the work of real robotic systems on concrete applications.
4. Plan trajectories for robotic tasks.
5. Select a control method suitable for the given robotic application.
6. Define the solution of robot kinematics and dynamics.

#### Forms of Teaching

Lectures

Through lectures, homework, and laboratory exercises, we will continuously introduce you to the theoretical and practical aspects of robotic manipulators

Exercises

Through lectures, homework, and laboratory exercises, we will continuously introduce you to the theoretical and practical aspects of robotic manipulators

Independent assignments

Through lectures, homework, and laboratory exercises, we will continuously introduce you to the theoretical and practical aspects of robotic manipulators

Laboratory

Through lectures, homework, and laboratory exercises, we will continuously introduce you to the theoretical and practical aspects of robotic manipulators

Continuous Assessment Exam
Homeworks 0 % 30 % 0 % 0 %
Mid Term Exam: Written 0 % 35 % 0 %
Final Exam: Written 0 % 35 %
Final Exam: Oral 20 %
Exam: Written 0 % 80 %
Exam: Oral 20 %

#### Week by Week Schedule

1. Basic industrial robot configurations, Review of industrial robot applications
2. Definition of robot tool position and orientation, Coordinate transformations (rotations, translations), Quaterninons
3. Homogeneous coordinate transformations, Denavit-Hartenberg convention
4. Direct kinematics of typical industrial robots, Definition of vector configuration, Inverse kinematics
5. Motion kinematics, Jacobian matrix
6. Definition of path and trajectory, Taylor path planning algorithm
7. Planning of PTP & CP robot motion, Spline interpolation, Optimization of trajectory planning
8. Midterm exam
9. Newton-Euler I
10. Lagrange - Euler
11. Newton-Euler II, Dynamics of industrial robots
12. Cascade control of robot joints
13. Cascade control of robot joints, compensated joint control loop
14. Robust and adaptive control methods for servo control of robot end effector
15. Final exam

#### Study Programmes

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#### Literature

(.), Z. Kovačić, S. Bogdan, V. Krajči, Osnove robotike, Graphis Zagreb, 2002.,
(.), T. Šurina, M. Crneković, Industrijski roboti, Školska knjiga Zagreb, 1990.,

#### General

ID 222596
Winter semester
5 ECTS
L1 English Level
L3 e-Learning
45 Lectures
0 Seminar
15 Exercises
13 Laboratory exercises
0 Project laboratory