Introduction to industrial robots – Kinematic problem. Transformations in space. – Kinematic equations – Solutions of the inverse kinematic problem – Speeds and static forces – Trajectory calculation in Cartesian space – Interpolation in joint space – Position control of a robot with many degrees of freedom – control systems referred to the Cartesian coordinate system – Compliance control. Force sensors. Force control algorithms – Natural and artificial restrictions. Hybrid position/force control – Programming languages and industrial robots – Applications of industrial robots.
Along with the course, students practice on laboratory exercises that include programming robots, design and programming robotic cell in simulation. In addition, students prepare a project in small groups.