Učni načrt predmeta

Predmet:
Vodenje, modeliranje in simulacija robotskih sistemov
Course:
Control, Modelling and Simulation of Robotic Systems
Študijski program in stopnja /
Study programme and level		 Študijska smer /
Study field		 Letnik /
Academic year		 Semester /
Semester
Informacijske in komunikacijske tehnologije, 2. stopnja Inteligentni sistemi in robotika 1 2
Information and Communication Technologies, 2nd level Intelligent Sytems and Robotics 1 2
Vrsta predmeta / Course type
Izbirni / Elective
Univerzitetna koda predmeta / University course code:
IKT2-618
Predavanja
Lectures		 Seminar
Seminar		 Vaje
Tutorial		 Klinične vaje
work		 Druge oblike
študija		 Samost. delo
Individ. work		 ECTS
15 15 15 105 5

*Navedena porazdelitev ur velja, če je vpisanih vsaj 15 študentov. Drugače se obseg izvedbe kontaktnih ur sorazmerno zmanjša in prenese v samostojno delo. / This distribution of hours is valid if at least 15 students are enrolled. Otherwise the contact hours are linearly reduced and transfered to individual work.

Nosilec predmeta / Course leader:
izr. prof. dr. Tadej Petrič
Sodelavci / Lecturers:
Jeziki / Languages:
Predavanja / Lectures:
slovenščina, angleščina / Slovenian, English
Vaje / Tutorial:
slovenščina, angleščina / Slovenian, English
Pogoji za vključitev v delo oz. za opravljanje študijskih obveznosti:
Prerequisites:

Zaključen študijski program prve stopnje s področja naravoslovja, tehnike ali računalništva.

Student must complete first-cycle study programmes in natural sciences, technical disciplines or computer science.

Vsebina:
Content (Syllabus outline):

Uvod v modeliranje in simulacijo sistemov: sodobna orodja za modeliranje in simulacijo, modeliranje in simulacija dinamičnih sistemov, sprotna simulacija, vizualizacija in navidezna resničnost, uporaba orodja MATLAB/SIMULINK.

Modeliranje in simulacija robotskih mehanizmov: zgodovinski pregled simulacije v robotiki, simulacija na različnih področjih robotike, simulacija robotskih sistemov v okolju MATLAB/Simulink, simulacija in vizualizacija robotskih sistemov z uporabo splošnih orodij za simulacijo dinamičnih sistemov in grafičnih jezikov.

Integrirano okolje za dinamično simulacijo robotskih manipulatorjev: zgradba in vmesniki, vključitev robota v simulacijsko zanko, primeri uporabe.

Vodenje robotskih mehanizmov: načrtovanje gibanja, vodenje po poziciji in hitrosti, vodenje po sili, vodenje v sklepih in vodenje v prostoru naloge, optimalno vodenje.

Vodenje redundantnih robotskih sistemov: dekompozicija naloge, reševanje redundantnosti, izogibanje oviram.

Introduction to system modelling and simulation: Modern modelling and simulation tools, modelling and simulation of dynamic systems, real-time simulation, visualization and virtual reality, MATLAB/SIMULINK simulation tools.

Modelling and simulation of robot mechanisms: Historical view of simulation in robotics, simulation in different fields of robotics, simulation of robot manipulators in MATLAB/Simulink, simulation and visualization of robot systems using general dynamic engines and graphic languages.

Integrated environment for dynamic simulation of robot manipulators: Structure and interfaces, manipulator-in-the-loop simulation, simulation examples.

Robot control systems: Trajectory planning, position and velocity control, force control, joint space and task space control, optimal control.

Control of redundant robot systems: Task decomposition, redundancy resolution, obstacle avoidance.

Temeljna literatura in viri / Readings:

Izbrana poglavja iz naslednjih knjig: / Selected chapters from the following books:
-M. Mihelj, T. Bajd, A. Ude, J. Lenarčič, A. Stanovnik, M. Munih, J. Rejc, S. Šlajpah. Robotics, Springer Cham, 2019, ISBN: 978-3-319-72910-7.
- P. Corke, Robotics, Vision and Control, Springer-Verlag Berlin Heidelberg, 2017, ISBN: 978-3-319-54412-0.
- L. Sciavicco and B. Siciliano. Robotics: Modelling, Planning and Control, Springer-Verlag, London, UK, 2009, ISBN: 978-1-84628-641-4.
- The MathWorks: MATLAB The Language of Technical Computation: Getting Started with MATLAB,
Natick, 1984-2018.
- The MathWorks: SIMULINK Dynamic System Simulation for MATLAB, Natick, 1990-2018.

Cilji in kompetence:
Objectives and competences:

Cilj predmeta je, da študentje pridobijo teoretično in praktično znanje s področja modeliranja, simulacije in vodenja robotskih sistemov.

Študentje se bodo naučili uporabljati simulacijska orodja. Spoznali bodo simulacijska orodja in postopke modeliranja robotskih sistemov ter uporabo simulacije pri načrtovanju gibanja robotov in sintezi sistemov vodenja za robotske sisteme. Te tehnike bodo preizkusili tudi na realnih robotskih sistemih.

Študentje si pridobijo osnovno teoretično in praktično znanje o vodenju robotov na različnih nivojih in o izvedbah sistemov vodenja na robotskih sistemih.

Naučili se bodo uporabljati in vključevati različne senzorske sisteme v sisteme vodenja.

Usposobiti študente za razumevanje sodobnih robotskih sistemov.

Pridobljeno znanje bo omogočilo uporabo znanstvenih metod za reševanje kompleksnih znanstveno-raziskovalnih nalog, vodenja razvojnih in raziskovalnih programov, kot tudi za razvoj in uporabo sodobnih robotsko podprtih proizvodnih tehnologij s ciljem modernizacije proizvodnje, povečanja kvalitete in produktivnosti.

The objective of this course is to gain basic theoretical and practical knowledge in the field of modeling, simulation and control of robot systems.

Students will learn how to use simulation tools. They will become familiar with the simulation tools and modelling methods of robot systems and will learn how to use simulation for the robot motion planning and the design of robot control systems. They will use these techniques on real robots.

Students will gain the basic theoretical and practical knowledge of robot control systems at different levels and their implementation on real robots.

They will learn how to include different sensors systems in robot control system.

The students will be qualified to understand modern robots systems.

The gained knowledge will allow the use of scientific methods for solving complex scientific and research tasks, to guide R&D projects, and also to develop and use the contemporary robot-based production technologies with the goal to modernize the production, to increase the quality and the productivity.

Predvideni študijski rezultati:
Intendeded learning outcomes:

Študent, ki bo uspešno končal ta predmet, bo
pridobil znanja in razumel:
- modeliranje in simulacijska orodja,
- robotsko manipulacijo,
- osnove vodenja robotskih sistemov.

Študenti bodo z uspešno opravljenimi obveznostmi tega predmeta pridobili:
- spretnost komuniciranja na tehniškem
področju, pri pisanju poročil in ustnem
poročanju,
- obvladanje raziskovalnih metod in strategij,
- sposobnost reševanja problemov:
analiza, sinteza, predvidevanje rešitev
in posledic,
- uporaba informacijskih tehnologij na
področju robotike,
- sposobnost uporabe znanja v praksi,
- avtonomnost v strokovnem delu,
- zavezanost profesionalni etiki in regulativi,
- kooperativnost, sposobnost dela v skupini.

Predmet pripravlja študente, da bodo sposobni:
- uporabljati modeliranje in simulacijska
orodja pri načrtovanju robotskih sistemov,
- načrtovati robotske naloge,
- načrtovati osnovne načine vodenja robotskih
sistemov.

A student who completes this course successfully
will know and understand:
- modelling and simulation tools,
- robot manipulation,
- basics of robot control.

Students successfully completing this course will
acquire:
- communication skills in writing technical
reports and oral presentations,
- mastering the research methods and strategies,
- the ability to solve problems: analysis,
synthesis and prediction of solutions and
consequences,
- use of information technology in the
field of robotics,
- the ability to apply the theory into practice,
- autonomy in the professional work,
- liability to professional ethics and regulatory
body politics,
- cooperation, ability to work in team.

This course prepares the students to be able:
- to use modelling and simulation tools for
design of robot systems,
- to plan robot tasks,
- to design basic robot control systems.

Metode poučevanja in učenja:
Learning and teaching methods:

Predavanja, seminarji, laboratorijsko delo, konzultacije, individualno delo

Lectures, seminars, laboratory work, consultations,
individual work

Načini ocenjevanja:
Delež v % / Weight in %
Assesment:
Seminarska naloga
50 %
Seminar work
Ustni izpit
50 %
Oral exam
Reference nosilca / Lecturer's references:
1. Jernej Čamernik, Rebeka Kropivšek Leskovar, Tadej Petrič, "Leader–follower dynamics in complex obstacle avoidance task", International journal of social robotics, vol. 15, iss. 1, str. 59-70, ilustr., ISSN 1875-4805, DOI: 10.1007/s12369-022-00945-3
2. Leon Žlajpah, Tadej Petrič, "Unified virtual guides framework for path tracking tasks", Robotica, [Print ed.], 2020, vol. 38, iss. 10, str. 1807-1823, ISSN 0263-5747, DOI: 10.1017/S0263574719000973.
3. Luka Mišković, Miha Dežman, Tadej Petrič, "Pneumatic quasi-passive variable stiffness mechanism for energy storage applications", IEEE Robotics and automation letters, 2022, vol. 7, iss. 2, 8 str., ISSN 2377-3766, DOI: 10.1109/LRA.2022.3141211.
4. Tilen Brecelj, Tadej Petrič, "Zero moment line—universal stability parameter for multi-contact systems in three dimensions", Sensors, 2022, vol. 22, no 15, str. 5656-1-5656-19, ISSN 1424-8220, DOI: 10.3390/s22155656.
5. Tadej Petrič, Luka Peternel, Jun Morimoto, Jan Babič, "Assistive arm-exoskeleton control based on human muscular manipulability", Frontiers in neurorobotics, 2019, vol. 13, str. 30-1-30-10, ISSN 1662-5218, DOI: 10.3389/fnbot.2019.00030.