Course syllabus - Industrial Robotics

Objectives

The purpose of the course is to provide the required background to deeply understand the problems behind the design of an industrial robot. The course will provide analytical methods and guidelines to design and control most of the existing classes of industrial robots. Examples from the industrial field will be provided to make direct connection with the real applications on the market.

Learning outcomes

After completed the course, the student will be able to:
- Model and industrial manipulator as a serial/parallel kinematic chain
- Analyze the workspace and distinguish the role of each joint within the robot motion capabilities
- Identify and model the robot interaction to the external forces in terms of the actuator torques
- Develop the robot dynamical model and simulate in 3D environments
- Perform motion planning in joint and operative space
- Develop basic and advanced strategies for trajectory and force control
- Program an industrial robot to make simple tasks, through the manufacturer programming language

Course content

Industrial robots typologies and applications, cartesian geometry and rotations representations, DH parameters, forward kinematics, differential kinematics, static and iterative methods for solving the inverse kinematics, redundant manipulators, analysis of the null space, statics, forces-torques duality, trajectory generation in the joints and 6D space, forward and inverse dynamics, Lagrangian vs Newton-Euler, simulation in 3D environment, dynamic parameters identification, centralized, and decentralized control, feedforward control with gravity compensation, inverse dynamics control, force control.
Industrial robots programming languages, calibration methods.

Tuition

Lectures, exercises, labs and projects.

Specific requirements

Basic vector algebra 7,5 ECTS credits, Linear algebra 7,5 ECTS credits, Mechanics II 7,5 ECTS credits and Control theory 7,5 ECTScredits. In addition Swedish course B/Swedish course 3 and English course A/English course 6 are required. For courses given entirely in English exemption is made from the requirement in Swedish course B/Swedish course 3.

Examination

Exercise, laboratory work (LAB1), 1.5 credits, marks 3, 4 or 5
Project (PRO1), 1.5 credits, marks 3, 4 or 5
Examination (TEN1), 4.5 credits, marks 3, 4 or 5

A student who has a certificate from MDU regarding a disability has the opportunity to submit a request for supportive measures during written examinations or other forms of examination, in accordance with the Rules and Regulations for Examinations at First-cycle and Second-cycle Level at Mälardalen University (2020/1655). It is the examiner who takes decisions on any supportive measures, based on what kind of certificate is issued, and in that case which measures are to be applied.

Suspicions of attempting to deceive in examinations (cheating) are reported to the Vice-Chancellor, in accordance with the Higher Education Ordinance, and are examined by the University’s Disciplinary Board. If the Disciplinary Board considers the student to be guilty of a disciplinary offence, the Board will take a decision on disciplinary action, which will be a warning or suspension.

Grade

Pass with distinction, Pass with credit, Pass, Fail