Zachodniopomorski Uniwersytet Technologiczny w Szczecinie

Administracja Centralna Uczelni - Wymiana międzynarodowa (S1)

Sylabus przedmiotu Robot Dynamics and Control:

Informacje podstawowe

Kierunek studiów Wymiana międzynarodowa
Forma studiów studia stacjonarne Poziom pierwszego stopnia
Tytuł zawodowy absolwenta
Obszary studiów
Profil
Moduł
Przedmiot Robot Dynamics and Control
Specjalność przedmiot wspólny
Jednostka prowadząca Katedra Automatyki Przemysłowej i Robotyki
Nauczyciel odpowiedzialny Rafał Osypiuk <Rafal.Osypiuk@zut.edu.pl>
Inni nauczyciele
ECTS (planowane) 2,0 ECTS (formy) 2,0
Forma zaliczenia zaliczenie Język angielski
Blok obieralny Grupa obieralna

Formy dydaktyczne

Forma dydaktycznaKODSemestrGodzinyECTSWagaZaliczenie
laboratoriaL1 15 1,00,38zaliczenie
wykładyW1 15 1,00,62zaliczenie

Wymagania wstępne

KODWymaganie wstępne
W-1Knowledge of basics of robotics within the scope of mathematical description.
W-2Basic knowledge of the control theory.

Cele przedmiotu

KODCel modułu/przedmiotu
C-1Familiarising students with commercial control systems used in robotics.
C-2Teaching skills needed to implement and analyse complex control systems.
C-3Familiarising students with issues and research directions related to control structures used in robotics.

Treści programowe z podziałem na formy zajęć

KODTreść programowaGodziny
laboratoria
T-L-1Introduction to control systems in robotics. Description of tools necessary for exercises.2
T-L-2Implementation of a robot dynamic model in a simulation environment.2
T-L-3Implementation of a discrete form of a PID regulator and simulation of position control in a single-loop system.2
T-L-4Study of the influence of a robot’s non-linearity and time-variant behavior on the quality of classic PID control.2
T-L-5Design, simulation and analysis of a control system with output feedback linearization.3
T-L-6Desing, simulation and analysis of a control system with input feedback linearization.3
T-L-7Comparative study of robustness of the systems analysed.1
15
wykłady
T-W-1Introduction. Definitions of basic terms and issues related to modern robotics.1
T-W-2Methods of mathematical description of a robot’s position. Forward and inverse kinematics of a serial manipulator.2
T-W-3Inverse kinematics of a 6DOF parallel robot.2
T-W-4Dynamic model of a robot and methods of its applications.3
T-W-5Trajectory generation.1
T-W-6Robot velocity transformation and the singularity phenomenon.1
T-W-7Control systems in robotic manipulators.4
T-W-8Robot control architectures.1
15

Obciążenie pracą studenta - formy aktywności

KODForma aktywnościGodziny
laboratoria
A-L-1Participation in classes.15
A-L-2Preparation for the classes.10
A-L-3Preparation for the credit.5
30
wykłady
A-W-1Participation in classes.15
A-W-2Literature research.10
A-W-3Preparation for the credit.5
30

Metody nauczania / narzędzia dydaktyczne

KODMetoda nauczania / narzędzie dydaktyczne
M-1Informative lectures.
M-2Problem-focused lectures.
M-3Simulation environment and dedicated software.
M-4Educational discussions aimed at improving the ability to apply knowledge in practice.

Sposoby oceny

KODSposób oceny
S-1Ocena formująca: Grade assigned at the end of the lectures on the basis of a written paper and a talk with the student.
S-2Ocena formująca: Grade assigned for submission of reports after each cycle of laboratory exercises.
S-3Ocena podsumowująca: Grade assigned after the end of laboratory classes on the basis of constituent grades and engagement of the student in all laboratory exercises.

Zamierzone efekty uczenia się - wiedza

Zamierzone efekty uczenia sięOdniesienie do efektów kształcenia dla kierunku studiówOdniesienie do efektów zdefiniowanych dla obszaru kształceniaCel przedmiotuTreści programoweMetody nauczaniaSposób oceny
WM-WE_1-_null_W01
The student knows the construction and the operating principal of commercial control systems used in robotics and is able to define requirements applying to them. In addition, the student understands the complexity of the process and the methods reducing it at the stage of designing a robot.
C-1, C-2, C-3T-W-1, T-W-2, T-W-3, T-W-4, T-W-5, T-W-6, T-W-7, T-W-8M-1, M-2, M-3, M-4S-1

Zamierzone efekty uczenia się - umiejętności

Zamierzone efekty uczenia sięOdniesienie do efektów kształcenia dla kierunku studiówOdniesienie do efektów zdefiniowanych dla obszaru kształceniaCel przedmiotuTreści programoweMetody nauczaniaSposób oceny
WM-WE_1-_null_U01
The student is able to design a classic robot control system and conduct its basic simulation analysis.
C-1, C-2, C-3T-L-1, T-L-2, T-L-3, T-L-4, T-L-5, T-L-6, T-L-7M-3, M-4S-2, S-3

Kryterium oceny - wiedza

Efekt uczenia sięOcenaKryterium oceny
WM-WE_1-_null_W01
The student knows the construction and the operating principal of commercial control systems used in robotics and is able to define requirements applying to them. In addition, the student understands the complexity of the process and the methods reducing it at the stage of designing a robot.
2,0
3,0The student knows the construction and the operating principal of commercial control systems used in robotics and is able to define requirements applying to them. In addition, the student understands the complexity of the process and the methods reducing it at the stage of designing a robot.
3,5
4,0
4,5
5,0

Kryterium oceny - umiejętności

Efekt uczenia sięOcenaKryterium oceny
WM-WE_1-_null_U01
The student is able to design a classic robot control system and conduct its basic simulation analysis.
2,0
3,0The student is able to design a classic robot control system and conduct its basic simulation analysis.
3,5
4,0
4,5
5,0

Literatura podstawowa

  1. J. J. Craig, Introduction to Robotics Mechanics and Control, Pearson Education; 3RD, INTERNATIONAL ECONOMY EDITION edition (2009), 2009
  2. M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley; 1 edition, 2005
  3. K. Kozłowski, Modelling and Identification in Robotics, Springer, 1998, 1st Edition

Literatura dodatkowa

  1. B. Siciliano, O. Khatib, Springer Handbook of Robotics, Springer, 2008, 1st Edition

Treści programowe - laboratoria

KODTreść programowaGodziny
T-L-1Introduction to control systems in robotics. Description of tools necessary for exercises.2
T-L-2Implementation of a robot dynamic model in a simulation environment.2
T-L-3Implementation of a discrete form of a PID regulator and simulation of position control in a single-loop system.2
T-L-4Study of the influence of a robot’s non-linearity and time-variant behavior on the quality of classic PID control.2
T-L-5Design, simulation and analysis of a control system with output feedback linearization.3
T-L-6Desing, simulation and analysis of a control system with input feedback linearization.3
T-L-7Comparative study of robustness of the systems analysed.1
15

Treści programowe - wykłady

KODTreść programowaGodziny
T-W-1Introduction. Definitions of basic terms and issues related to modern robotics.1
T-W-2Methods of mathematical description of a robot’s position. Forward and inverse kinematics of a serial manipulator.2
T-W-3Inverse kinematics of a 6DOF parallel robot.2
T-W-4Dynamic model of a robot and methods of its applications.3
T-W-5Trajectory generation.1
T-W-6Robot velocity transformation and the singularity phenomenon.1
T-W-7Control systems in robotic manipulators.4
T-W-8Robot control architectures.1
15

Formy aktywności - laboratoria

KODForma aktywnościGodziny
A-L-1Participation in classes.15
A-L-2Preparation for the classes.10
A-L-3Preparation for the credit.5
30
(*) 1 punkt ECTS, odpowiada około 30 godzinom aktywności studenta

Formy aktywności - wykłady

KODForma aktywnościGodziny
A-W-1Participation in classes.15
A-W-2Literature research.10
A-W-3Preparation for the credit.5
30
(*) 1 punkt ECTS, odpowiada około 30 godzinom aktywności studenta
PoleKODZnaczenie kodu
Zamierzone efekty uczenia sięWM-WE_1-_null_W01The student knows the construction and the operating principal of commercial control systems used in robotics and is able to define requirements applying to them. In addition, the student understands the complexity of the process and the methods reducing it at the stage of designing a robot.
Cel przedmiotuC-1Familiarising students with commercial control systems used in robotics.
C-2Teaching skills needed to implement and analyse complex control systems.
C-3Familiarising students with issues and research directions related to control structures used in robotics.
Treści programoweT-W-1Introduction. Definitions of basic terms and issues related to modern robotics.
T-W-2Methods of mathematical description of a robot’s position. Forward and inverse kinematics of a serial manipulator.
T-W-3Inverse kinematics of a 6DOF parallel robot.
T-W-4Dynamic model of a robot and methods of its applications.
T-W-5Trajectory generation.
T-W-6Robot velocity transformation and the singularity phenomenon.
T-W-7Control systems in robotic manipulators.
T-W-8Robot control architectures.
Metody nauczaniaM-1Informative lectures.
M-2Problem-focused lectures.
M-3Simulation environment and dedicated software.
M-4Educational discussions aimed at improving the ability to apply knowledge in practice.
Sposób ocenyS-1Ocena formująca: Grade assigned at the end of the lectures on the basis of a written paper and a talk with the student.
Kryteria ocenyOcenaKryterium oceny
2,0
3,0The student knows the construction and the operating principal of commercial control systems used in robotics and is able to define requirements applying to them. In addition, the student understands the complexity of the process and the methods reducing it at the stage of designing a robot.
3,5
4,0
4,5
5,0
PoleKODZnaczenie kodu
Zamierzone efekty uczenia sięWM-WE_1-_null_U01The student is able to design a classic robot control system and conduct its basic simulation analysis.
Cel przedmiotuC-1Familiarising students with commercial control systems used in robotics.
C-2Teaching skills needed to implement and analyse complex control systems.
C-3Familiarising students with issues and research directions related to control structures used in robotics.
Treści programoweT-L-1Introduction to control systems in robotics. Description of tools necessary for exercises.
T-L-2Implementation of a robot dynamic model in a simulation environment.
T-L-3Implementation of a discrete form of a PID regulator and simulation of position control in a single-loop system.
T-L-4Study of the influence of a robot’s non-linearity and time-variant behavior on the quality of classic PID control.
T-L-5Design, simulation and analysis of a control system with output feedback linearization.
T-L-6Desing, simulation and analysis of a control system with input feedback linearization.
T-L-7Comparative study of robustness of the systems analysed.
Metody nauczaniaM-3Simulation environment and dedicated software.
M-4Educational discussions aimed at improving the ability to apply knowledge in practice.
Sposób ocenyS-2Ocena formująca: Grade assigned for submission of reports after each cycle of laboratory exercises.
S-3Ocena podsumowująca: Grade assigned after the end of laboratory classes on the basis of constituent grades and engagement of the student in all laboratory exercises.
Kryteria ocenyOcenaKryterium oceny
2,0
3,0The student is able to design a classic robot control system and conduct its basic simulation analysis.
3,5
4,0
4,5
5,0