Robotics Practicum

Learning Outcomes

  1. Apply solutions of direct and inverse kinematics
  2. Plan trajectories for robot tasks
  3. Design robot systems with wheels and tracks
  4. Design unmanned aerial rotorcrafts
  5. Apply robot vision.
  6. Recognize problems of grasping in robot environment.
  7. Recognize mission allocation for the one or a group of robots

Forms of Teaching

Lectures

Organized in three thematic cycles (5+4+4 hours)

Independent assignments

For a given robot task one should design a robot using the dynamixel system and a 3D printer or a CNC machine, build a virtual model and execute the given task in virtual environment using Matlab • For a given robot task one should build a robot using the dynamixel system, and write a program and prepare demonstration of robot operation. The robot task assumes the use of robot vision.

Laboratory

Six laboratory exercises that cover all elements required to complete the project assignment: 1. Laboratory exercise: Basic elements of construction and mechanical transmission using LEGO NXT kit 2. Laboratory exercise: Direct and inverse kinematics 3. Laboratory exercise: Control of dynamixel servo motor 4. Laboratory exercise: Robot vision 5. Laboratory exercise: Basic computer vision algorithms 6. Laboratory exercise: SCADA

Grading Method

     
Continuous Assessment Exam
Type Threshold Percent of Grade Threshold Percent of Grade
Seminar/Project 50 % 70 % 0 % 0 %
Mid Term Exam: Written 50 % 30 % 0 %

Week by Week Schedule

  1. Definition of robot tool position and orientation.
  2. Coordinate transformations (rotations, translations).
  3. Iterative solution of IK problem.
  4. Iterative solution of IK problem.
  5. Definition of path and trajectory; Interpolation methods.
  6. Interpolation methods.
  7. Servos.
  8. Midterm exam.
  9. Rotorcrafts.
  10. Wheeled and traccked robot configurations.
  11. Vision and grasping.
  12. Vision and grasping.
  13. Mission planning.
  14. Leader-follower.
  15. Final exam.

Study Programmes

University undergraduate
Computing (study)
Elective Courses (5. semester)
Electrical Engineering and Information Technology (study)
Elective Courses (5. semester)

Literature

(.), Praktikum robotike, skripta FER, 2014.,
Z. Kovačić, S. Bogdan, V. Krajči (2002.), Fundamentals of robotics (in Croatian), Graphis, Zagreb

General

ID 183383
  Winter semester
4 ECTS
L3 English Level
L1 e-Learning
15 Lectures
0 Exercises
26 Laboratory exercises
0 Project laboratory

Grading System

87.5 Excellent
75 Very Good
62.5 Good
50 Acceptable