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README.md
Programming for robots and manipulators (VRM)
Requirements:
Software:
Robot Operating System (ROS)
RoboStudio ABB
Automation Studio B&R
Linux Ubuntu (16.04 or 18.04)
Unity3D and Vuforia
Programming Language:
Python and/or C/C++, C#
Other:
Algorithmization, Programming, Mathematics and Optimization
Description:
The VRM (Programming for Robots and Manipulators) course enables students to acquire skills and knowledge in programming industrial / mobile robots and manipulators. This course also expands skills in advanced system integration and deployment in real-world robotic applications. The aim of the VRM course is to introduce students to modern approaches to robotic technology with a focus on programming, kinematics / dynamics solutions, motion planning, Industry 4.0 and the use of artificial intelligence (AI).
The main focus is on students practical skills in laboratory exercises, which include several blocks:
- RobotStudio ABB
- Forward/Inverse kinematics
- Robotic operating system (ROS) extended by advanced industrial capabilities ROS-Industrial (ROS-I)
- Virtual / digital twin using Unity3D extended by system integration with B&R Automation PLC via OPC UA
- A simple demonstration of augmented reality based on robotics
These few blocks are extended by theoretical knowledge, which students acquire in the form of lectures.
Link: Detailed description of the Syllabus (Czech)
Link: Course descrition - FME, BUT
Detailed description of the Syllabus:
Week 1 (8. 2. 2021):
- Introduction to the course, main goals, methods and evaluation criteria, etc.
- Introduction to the issue, development and definition of robots, manipulators.
- Introduction of an advanced robotic production line called Industry 4.0 (i4C).
Link: Lecture 1
Week 2 (14. 2. 2021):
- Stationary industrial robots and single-purpose manipulators. Specific constructions of industrial robots, parallel structures. Programmable logic controllers (PLC) and use in robotics.
- Control and programming of industrial robots. Introduction of basic tools for creating robotic simulations.
- Assignment of seminar paper.
Link: Lecture 2
Week 3 (22. 2. 2021):
- End-effectors and their adaptability.
- ABB RobotStudio - Workshop (Part 1: Introduction, Create tool, Simple task with an industrial robot, etc.)
- Assignment of project.
Link: Lecture 3
Link: Laboratory 1
Week 4 (1. 3. 2021):
- ABB RobotStudio - Workshop (Part 2: Simple task with an collaborative robot, Conveyor control, Smart gripper, etc.)
Assessment Methodology:
Description:
- Active participation in laboratory exercises and lectures: 10 points
- Seminar paper: 20 points [Link]
- Project no. 1: 30 points [Link]
- Project no. 2 (Team project): 40 points [Link]
The condition for writing a seminar paper is the use of LaTex (e.g., Overleaf -> Online LaTeX Editor). Projects are submitted via GitHub, which will contain a folder of all relevant files for each project and a short description in English.
The penalty equation for late submission of a project is defined as:
$\Large p_s = \lvert \frac{\Delta t}{24}e^{\frac{1}{2}} \rvert + \delta_p,$
where $\Delta t$ is defined as the difference between the date of deadline and the date of assignment of the project (in hours), and $\delta_p$ is the project error factor defined as $\frac{s_{max}}{10}$.
The maximum possible score is defined as:
$\Large s = s_{max} - p_s,$
where $s_{max}$ is the initial maximum score, and $p_s$ is a penalty.
The script for the calculation can be found at [Link].
Resources and Literature:
Textbooks:
- Introduction to AI Robotics, Robin R. Murphy
- Roboty a robotizované výrobní technologie, Zdeněk Kolíbal
- Handbook of Robotics, Bruno Siciliano
- Robotics, Vision and Control, Peter Corke
- Planning Algorithms, Steven M. LaValle
- Industrial Robotics: Theory, Modelling and Control, Sam Cubero
- Mathematics for Computer Graphics, John Vince
Other:
Contact Info:
Roman.Parak@vutbr.cz or Microsoft Teams (recommended)