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.
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