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Roman Parak a41377f05a 3 days ago
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# 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:

1. RobotStudio ABB
2. Forward/Inverse kinematics
3. Robotic operating system (ROS) extended by advanced industrial capabilities ROS-Industrial (ROS-I)
4. Virtual / digital twin using Unity3D extended by system integration with B&R Automation PLC via OPC UA
5. 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.

## 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).

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.

Week 3 (22. 2. 2021):

• ABB RobotStudio - Workshop (Part 1: Introduction, Create tool, Simple task with an industrial robot, etc.)
• Assignment of project.

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:

1. Introduction to AI Robotics, Robin R. Murphy
2. Roboty a robotizované výrobní technologie, Zdeněk Kolíbal
3. Handbook of Robotics, Bruno Siciliano
4. Robotics, Vision and Control, Peter Corke
5. Planning Algorithms, Steven M. LaValle
6. Industrial Robotics: Theory, Modelling and Control, Sam Cubero
7. Mathematics for Computer Graphics, John Vince

Other:

## Contact Info:

Roman.Parak@vutbr.cz or Microsoft Teams (recommended)