ME4216: INDUSTRIAL ROBOT
1. Course Title: Industrial Robot
2. Course ID: ME4216
3. Course Units: 2(2-1-0-4)
Lecture: 30 hours
Seminar/Homework: 15 hours
4. Replacement/Equivalent Courses: -
5. Expected Participants: Students in Mechatronics Undergraduate Advanced Programs.
6. Requisites
Prerequisites: ME3026; EE 3706; EE 3736; EE 3756
Corequisites: -
7. Objectives and Expected Outcomes
Objective: For students to
+ Study the structure of the industrial robot: mechanical systems, power, motors,
controls.
+ Study the method of investigation of kinematic and dynamic of industrial robot.
+ Study the control system.
+ Learn how to design mechanical structure of industrial robot.
Outcomes: Students shall be able to
+ Design a model of the industrial robot by the concrete objectives.
+ Use and experiment with industrial robot.
+ Programming of the computation and control of the industrial robot.
+ Prepare technical papers/reports.
8. Description
Investigation of structure of industrial robot: mechanical systems, power, motors, controls; kinematic and
dynamic problems; numerical control system. Programming on control panel and using professional
software. Using and experimenting of industrial robot.
9. Student Duties
Class attendance: ≥ 80%
Homework
Lab works
10. Assessment
Mid-term grade: 0.3 (30%)
- Home exercise grading
- Project
- Lab work and reports
- Mid-tem test
Final exam (multichoice and writing): 0.7 (70%)
11. Course Materials
Textbook: Fundamentals of Robotic Mechanical systems, Jorge Angeles, 2rd Edition,
Springer. 2006.
Lecture Notes: provided to students by the Mechatronics Program.
Lab Manual: provided to students by the Mechatronics Program.
12. Course Topics
INDUSTRIAL ROBOT
Course Developer: Le Duc Do PhD.
1. An Overview of Industrial Robot
1.1. Introduction
1.2. The general structure of industrial robot
1.3. Serial manipulators
1.4. Parallel manipulators
1.5. Robotic hands
2. Mathematical Background
2.1. The position and orientation of rigid body
2.2. The angular velocity and acceleration of rigid body
2.3. The generalized coordinates of the angular orientation of solid body
2.4. The matrix of the orientation cosines, the rotation matrix
2.5. The velocity and acceleration of a point of rigid body
2.6. The homogeneous coordinates, the matrix of the transformation of the homogeneous
coordinates
3. Kinematic of Serial Manipulators
3.1. Concept
3.2. The systems of coordinates of serial manipulators
3.3. The systems of kinematic equations of serial manipulators
3.4. The direct problem of kinematic of serial manipulators
3.5. The inverse problem of kinematic of serial manipulators
3.6. Conclusion
4. Kinematic of Parallel Manipulators
4.1. Concept
4.2. The systems of coordinates of parallel manipulators
4.3. The systems of kinematic equations of parallel manipulators
4.4. The direct problem of kinematic of parallel manipulators
4.5. The inverse problem of kinematic of parallel manipulators
4.6. Conclusion
5. Dynamic of Serial Manipulators
5.1. Concept
5.2. The kinematical and dynamical parameters of serial manipulators
5.3. The dynamical values serial manipulators
5.4. The systems of dynamical equations of serial manipulators
5.5. Solving systems of dynamical equations of serial manipulators
5.6. Conclusion
6. Dynamic of Parallel Manipulators
6.1. Concept
6.2. The kinematical and dynamical parameters of parallel manipulators
6.3. The dynamical values parallel manipulators
6.4. The systems of dynamical equations of parallel manipulators
6.5. Solving systems of dynamical equations of parallel manipulators
6.6. Conclusion
7. Programming of the computation of industrial robot
7.1. Applied software
7.2. Trajectory planning
7.3. The programme of solving the kinematical problems
7.4. The programme of solving the dynamical problems
7.5. Design mechanical structure
7.6. Simulation programme
8. Actuator and Motion Control
8.1. Transmissions
8.2. Motors
8.3. Powers
8.4. The control problem
8.5. Sensors
8.6. Control Architecture
13. Lab works
Experiment the comon industrial robot: Kuka, Almega, Motoman
Programming on control panel with robot Kuka, robot Almega, robot Harmo
Study and use professional software with robot Kuka, robot Almega
14. References
1. Lung Wen Tsai: Robot Analysis, The Mechanics of Serial and Parallel Manipulators. John Willey
& Sons, New York/Toronto/... 505 pag. 1999.
2. L. Sciavicco and B. Siciliano: Modelling and Control of Robot Manipulators. 2rd Edition, Springer.
378 pag. 2000.
3. Gordon McComb: The Robot Builder’s Bonanza. 2rd Edition, McGraw-Hill. 753 pag. 2001.
4. Myke Predko: Programming Robot Contrllers. McGraw-Hill. 456 pag. 2003.
5. Jean Pierre Merlet: Parallel Robots. Kluwer Academic Publishers, Boston/London,…. 355 pag.
2000.
6. Craig, John J., “Introduction to Robotics: Mechanics and Control”, Addison Wesley Publishing
Co., 2000.
7. Shimon Y.Nof, “ Handbook of industrial robotics”, 1999 John Wiley & Sons, Inc.
8. J. Norberto Pires, “Industrial robots programming”, Springger, 2006.
9. KUKA robot Group, “KRC2 expert programming with KRL”, 2003
10.Mikell. P Groover, Mitchell Welss, Roger N Nagel, Industrial Robotics Technology, programming
and applications, Mc Graw – Hill International Edition 1998
11.Robotique – Aspects fondamentaux – Masson, Paris 1994.
Chairman of the Scientific and Education Council
