Administracja Centralna Uczelni - Wymiana międzynarodowa (S2)
Sylabus przedmiotu Robot Dynamics and Control:
Informacje podstawowe
| Kierunek studiów | Wymiana międzynarodowa | ||
|---|---|---|---|
| Forma studiów | studia stacjonarne | Poziom | drugiego 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
Wymagania wstępne
| KOD | Wymaganie wstępne |
|---|---|
| W-1 | Knowledge of basics of robotics within the scope of mathematical description. |
| W-2 | Basic knowledge of the control theory. |
Cele przedmiotu
| KOD | Cel modułu/przedmiotu |
|---|---|
| C-1 | Familiarising students with commercial control systems used in robotics. |
| C-2 | Teaching skills needed to implement and analyse complex control systems. |
| C-3 | Familiarising students with issues and research directions related to control structures used in robotics. |
Treści programowe z podziałem na formy zajęć
| KOD | Treść programowa | Godziny |
|---|---|---|
| laboratoria | ||
| T-L-1 | Introduction to control systems in robotics. Description of tools necessary for exercises. | 2 |
| T-L-2 | Implementation of a robot dynamic model in a simulation environment. | 2 |
| T-L-3 | Implementation of a discrete form of a PID regulator and simulation of position control in a single-loop system. | 2 |
| T-L-4 | Study of the influence of a robot’s non-linearity and time-variant behavior on the quality of classic PID control. | 2 |
| T-L-5 | Design, simulation and analysis of a control system with output feedback linearization. | 3 |
| T-L-6 | Desing, simulation and analysis of a control system with input feedback linearization. | 3 |
| T-L-7 | Comparative study of robustness of the systems analysed. | 1 |
| 15 | ||
| wykłady | ||
| T-W-1 | Introduction. Definitions of basic terms and issues related to modern robotics. | 1 |
| T-W-2 | Methods of mathematical description of a robot’s position. Forward and inverse kinematics of a serial manipulator. | 2 |
| T-W-3 | Inverse kinematics of a 6DOF parallel robot. | 2 |
| T-W-4 | Dynamic model of a robot and methods of its applications. | 3 |
| T-W-5 | Trajectory generation. | 1 |
| T-W-6 | Robot velocity transformation and the singularity phenomenon. | 1 |
| T-W-7 | Control systems in robotic manipulators. | 4 |
| T-W-8 | Robot control architectures. | 1 |
| 15 | ||
Obciążenie pracą studenta - formy aktywności
| KOD | Forma aktywności | Godziny |
|---|---|---|
| laboratoria | ||
| A-L-1 | Participation in classes. | 15 |
| A-L-2 | Preparation for the classes. | 10 |
| A-L-3 | Preparation for the credit. | 5 |
| 30 | ||
| wykłady | ||
| A-W-1 | Participation in classes. | 15 |
| A-W-2 | Literature research. | 10 |
| A-W-3 | Preparation for the credit. | 5 |
| 30 | ||
Metody nauczania / narzędzia dydaktyczne
| KOD | Metoda nauczania / narzędzie dydaktyczne |
|---|---|
| M-1 | Informative lectures. |
| M-2 | Problem-focused lectures. |
| M-3 | Simulation environment and dedicated software. |
| M-4 | Educational discussions aimed at improving the ability to apply knowledge in practice. |
Sposoby oceny
| KOD | Sposób oceny |
|---|---|
| S-1 | Ocena formująca: Grade assigned at the end of the lectures on the basis of a written paper and a talk with the student. |
| S-2 | Ocena formująca: Grade assigned for submission of reports after each cycle of laboratory exercises. |
| S-3 | Ocena 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 kształcenia - wiedza
| Zamierzone efekty kształcenia | Odniesienie do efektów kształcenia dla kierunku studiów | Odniesienie do efektów zdefiniowanych dla obszaru kształcenia | Cel przedmiotu | Treści programowe | Metody nauczania | Sposób oceny |
|---|---|---|---|---|---|---|
| WM-WE_2-_??_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-3 | T-W-1, T-W-2, T-W-3, T-W-4, T-W-5, T-W-6, T-W-7, T-W-8 | M-1, M-2, M-3, M-4 | S-1 |
Zamierzone efekty kształcenia - umiejętności
| Zamierzone efekty kształcenia | Odniesienie do efektów kształcenia dla kierunku studiów | Odniesienie do efektów zdefiniowanych dla obszaru kształcenia | Cel przedmiotu | Treści programowe | Metody nauczania | Sposób oceny |
|---|---|---|---|---|---|---|
| WM-WE_2-_??_U01 The student is able to design a classic robot control system and conduct its basic simulation analysis. | — | — | C-1, C-2, C-3 | T-L-1, T-L-2, T-L-3, T-L-4, T-L-5, T-L-6, T-L-7 | M-3, M-4 | S-2, S-3 |
Kryterium oceny - wiedza
| Efekt kształcenia | Ocena | Kryterium oceny |
|---|---|---|
| WM-WE_2-_??_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 | |
| 3,0 | 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. | |
| 3,5 | ||
| 4,0 | ||
| 4,5 | ||
| 5,0 |
Kryterium oceny - umiejętności
| Efekt kształcenia | Ocena | Kryterium oceny |
|---|---|---|
| WM-WE_2-_??_U01 The student is able to design a classic robot control system and conduct its basic simulation analysis. | 2,0 | |
| 3,0 | The 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
- J. J. Craig, Introduction to Robotics Mechanics and Control, Pearson Education; 3RD, INTERNATIONAL ECONOMY EDITION edition (2009), 2009
- M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley; 1 edition, 2005
- K. Kozłowski, Modelling and Identification in Robotics, Springer, 1998, 1st Edition
Literatura dodatkowa
- B. Siciliano, O. Khatib, Springer Handbook of Robotics, Springer, 2008, 1st Edition