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Main menu for Browse IS/STAG
Course info
KKS / ZROA
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Course description
Department/Unit / Abbreviation
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KKS
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ZROA
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Academic Year
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2023/2024
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Academic Year
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2023/2024
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Title
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Fundamentals of Robotics
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Form of course completion
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Exam
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Form of course completion
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Exam
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Accredited / Credits
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Yes,
4
Cred.
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Type of completion
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Combined
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Type of completion
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Combined
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Time requirements
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Lecture
2
[Hours/Week]
Tutorial
2
[Hours/Week]
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Course credit prior to examination
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Yes
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Course credit prior to examination
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Yes
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Automatic acceptance of credit before examination
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Yes in the case of a previous evaluation 4 nebo nic.
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Included in study average
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YES
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Language of instruction
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English
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Occ/max
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Automatic acceptance of credit before examination
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Yes in the case of a previous evaluation 4 nebo nic.
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Summer semester
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0 / -
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0 / -
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3 / -
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Included in study average
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YES
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Winter semester
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0 / -
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0 / -
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2 / -
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Repeated registration
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NO
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Repeated registration
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NO
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Timetable
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Yes
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Semester taught
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Winter + Summer
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Semester taught
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Winter + Summer
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Minimum (B + C) students
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10
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Optional course |
Yes
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Optional course
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Yes
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Language of instruction
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English
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Internship duration
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0
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No. of hours of on-premise lessons |
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Evaluation scale |
1|2|3|4 |
Periodicity |
každý rok
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Evaluation scale for credit before examination |
S|N |
Periodicita upřesnění |
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Fundamental theoretical course |
No
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Fundamental course |
Yes
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Fundamental theoretical course |
No
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Evaluation scale |
1|2|3|4 |
Evaluation scale for credit before examination |
S|N |
Substituted course
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None
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Preclusive courses
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N/A
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Prerequisite courses
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N/A
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Informally recommended courses
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N/A
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Courses depending on this Course
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N/A
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Histogram of students' grades over the years:
Graphic PNG
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XLS
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Course objectives:
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The objective of the course is to present to students an overview of basic problems in robotics and methods of their solving.
Significant part of the course is focused on design of robots, including overview of actuators, sensors and control system. Overview of further topics like motion planning and control, grasping of objects, effectors, autonomous systems, navigation and special topics as service robots, robots for medical applications, artificial intelligence in robotics, etc. is given.
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Requirements on student
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Continuous assessment: fulfilment of requirements on seminars, project
Final assessment: written and oral examination
Project no.1 - 0-30 points
Project no.2 - 0-30 points
Written test - 0-30 points
Oral exam - 0-10 points
Grades: dobře 51-70bodů, velmi dobře 71-90bodů, výborně 91-100bodů
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Content
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Significant part of the course is focused on design of robots, including overview of actuators, sensors and control system. Overview of further topics like motion planning and control, grasping of objects, effectors, autonomous systems, navigation and special topics as service robots, robots for medical applications, artificial intelligence in robotics, etc. is given.
Lectures:
1. Contents of the course, requirements, literature.
Introduction - history overview, robot classification of robots and manipulators, examples. Robot market development.
2. - 3. Repetition of fundamentals of mechanics
Kinematics and dynamics robotic manipulators, forward and inverse problem, D-H principle.
4. - 6. Programming of industrial robots - online, offline. Using of proprietary SW tools. Using of Robotics Module in Siemens Technomatics. Virtual model of robotic workplace in Siemens Technomatics - Process Simulate.
7. Sensors for industrial and service robotics.
8. Robotic vision.
9. Effectors for robotic manipulators, grasping of objects.
10. Service robotics - introduction, locomotion, control system
11. Navigation and localization
12. Application of robotics in medicine. Cobots. Other applications of robotics and trends in robotics. Unmanned vehicles, robots for undersea research, reconfigurable robots, downsizing (micro a nanorobotics).
co-existence of humans and robots (psychological aspects of robotics)
13. External lecturer - system integrator / manufacturer of industrial robots. Alt. excursion.
Cvičení :
1. Tools for modeling and simulation of robotic mechanisms - an overview.
2. Kinematics of robotic manipulators - examples, derivation of equations for particular manipulator.
3. Kinematics and dynamics of robotic manipulators - examples. Modeling of robotic manipulators in MATLAB with using of Robotics Tbx., SimMechanics, etc.
4.-7. Programming of industrial robots - online, offline. Using of proprietary SW tools. Using of Robotics Module in Siemens Technomatics. Virtual model of robotic workplace in Siemens Technomatics - Process Simulate.
Working on project no.1.
8. Robotic vision - recognition of a scene and objects.
9. Effectors, grasping of objects.
10. - 11. Service robotics (mobile robots) - introduction to programming (Arduino), control of servos and motors, sensor signal processing.
Programming of mobile robots, AGVs - using compass, accelerometers, gyroscopes, GPS for navigation and localization tasks
12. - 13. Working on semester project no.2, presentation.
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Activities
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Fields of study
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Guarantors and lecturers
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Literature
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Basic:
Margolis, Michael. Arduino cookbook. 2nd ed. Sebastopol : O'Reilly, 2012. ISBN 978-1-449-31387-6.
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Basic:
McRoberts, Michael. Beginning Arduino. New York : Apress, 2010. ISBN 978-1-4302-3240-7.
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Basic:
Siegwart, Roland; Nourbakhsh, Illah Reza,; Scaramuzza, Davide. Introduction to autonomous mobile robots / Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza. 2nd ed. Cambridge : MIT Press, 2011. ISBN 978-0-262-01535-6.
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Basic:
Robot Academy.
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Basic:
Kurfess, Thomas R. Robotics and automation handbook. Boca Raton : CRC Press, 2005. ISBN 0-8493-1804-1.
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Basic:
Springer Handbook of Robotics. Springer, 2007. ISBN 978-3540239574.
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Extending:
Rocon, Eduardo; Pons, José L. Exoskeletons in rehabilitation robotics : tremor suppression. Berlin : Springer, 2011. ISBN 978-3-642-17658-6.
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Extending:
Choset, Howie M. Principles of robot motion : theory, algorithms, and implementation. Cambridge : MIT Press, 2005. ISBN 0-262-03327-5.
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Recommended:
Dudek, Gregory; Jenkin, Michael. Computational principles of mobile robotics. Cambridge : Cambridge University Press, 2010. ISBN 978-0-521-69212-0.
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Recommended:
Fundamentals of Robotic Mechanical Systems
(Angeles, Jorge)
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Recommended:
Carbone, Giuseppe. Grasping in Robotics. London : Springer, 2013. ISBN 978-1-4471-4663-6.
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On-line library catalogues
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Time requirements
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All forms of study
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Activities
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Time requirements for activity [h]
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Individual project (40)
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40
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Preparation for an examination (30-60)
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40
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Contact hours
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52
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Total
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132
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Prerequisites
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Knowledge - students are expected to possess the following knowledge before the course commences to finish it successfully: |
Knowledge in the range of the previous study at the university is supposed. |
to use his/her professional knowledge at least in one foreign language |
to use independently teoretical knowledge from mechanics, stress and strain, machine elements and fundamentalds of design in designing of machines and equipment |
to gain further professional knowledge by self-study |
Skills - students are expected to possess the following skills before the course commences to finish it successfully: |
to use independently his/her knowledge of fundamental theoretical disciplines in solving of practical tasks in the field of designing machines and equipment |
to use his/her professional skills at least in one foreign language |
to gain further professional experience |
Competences - students are expected to possess the following competences before the course commences to finish it successfully: |
N/A |
N/A |
N/A |
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Learning outcomes
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Knowledge - knowledge resulting from the course: |
to use his/her professional knowledge at least in one foreign language |
to communicate information about problems connected with applications of robotics |
to evaluate pros and cons of robotic systems |
to gain further professional knowledge by self-study |
Skills - skills resulting from the course: |
to design selected robotic subsystems with use of gained theoretical and practical knowledge |
to use his/her theoretical knowledge to solve practical tasks |
to gain further professional experience |
Competences - competences resulting from the course: |
N/A |
N/A |
N/A |
N/A |
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Assessment methods
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Knowledge - knowledge achieved by taking this course are verified by the following means: |
Oral exam |
Written exam |
Skills demonstration during practicum |
Project |
N/A |
Skills - skills achieved by taking this course are verified by the following means: |
Skills demonstration during practicum |
Project |
N/A |
Competences - competence achieved by taking this course are verified by the following means: |
Project |
Individual presentation at a seminar |
N/A |
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Teaching methods
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Knowledge - the following training methods are used to achieve the required knowledge: |
Lecture supplemented with a discussion |
Laboratory work |
Task-based study method |
Self-study of literature |
Interactive lecture |
Project-based instruction |
E-learning |
N/A |
Skills - the following training methods are used to achieve the required skills: |
Laboratory work |
Task-based study method |
E-learning |
Project-based instruction |
N/A |
Competences - the following training methods are used to achieve the required competences: |
Self-study of literature |
Task-based study method |
Practicum |
N/A |
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