ROBT611 – Industrial Robotics

Fall 2017 Semester

Course Instructor: Dr. Almas Shintemirov  

Class Times:   Tuesdays, Thursdays 3.00 – 4.15 pm

Prerequisite:  ROBT501 Robot Manipulation and Mobility

Course Overview 
The Industrial Robotics course builds upon the Robot Manipulation and Mobility course offered in the 1 year of MSc. in Robotics master program and introduces underlining principles behind industrial robot-manipulators. The course covers the theoretical aspects of robot kinematic and dynamic modeling, trajectory generation and control system design. Students can expect to learn how to simulate and program offline commercial robot-manipulators, e.g. Universal Robots UR5 and UR10 arms, for executing various manufacturing operations using deducated robotics software. The final project of the course include designing and implementation of a centralized control on a Kuka Youbot mobile robot-manipulator.

Course Objectives
The main learning outcome for the course is to acquire theoretical knowledge and practical skills for analysis and control of industrial robot-manipulators. Specifically, upon completing this course, you should be able to:

  • Analyze industrial robot-manipulator mechanical and control architectures.
  • Design a control system for a robot-manipulator
  • Have a practical experience with offline programming of industrial robot-manipulators
  • Self-study and work independently on projects that can be used as part of the master theses

Course Topics
– Review of Robot Kinematics;
– Robot Statics and Dynamics;
– Robot Trajectory Generation;
– Decentralized Robot Control: Independent Joint Control;
– Centralized Robot Control: Gravity Compensation Control, Inverse Dynamics Control;
– Compiant Robot Control: Impedance Control and Direct Force Control
– Projects based on Universal Robots UR5 and UR10 robot-manipulators

Course reference textbooks

  • B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, 2010
  • M. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley, 2006
  • L.W. Tsai, Robot Analysis: The Mechanics of Series and Parallel Manipulators, Wiley, 1999
  • R. Kelly, V. Santibanez and A. Loria, Control of Robot Manipulators in Joint Space, Springer, 2005
  • J. Craig, Introduction to Robotics: Mechanics and Control, 3rd Edition,  Pearson, 2005

Example Homework Assignment