ID: 7055
Course type: vocational and applied
Course coordinator: Slavković R. Nikola
Lecturers: Milošević Z. Nenad, Petrović M. Milica, Popović D. Olivera, Slavković R. Nikola
Contact: Slavković R. Nikola
Level of studies: B.Sc. (undergraduate) Academic Studies – Information Technologies in Mechanical Engineering
ECTS: 5
Final exam type: oral
Department: Department of Production Engineering
The student gains fundamental knowledge about industrial robots, the necessary knowledge about robot control and artificial intelligence, the knowledge and skills needed for robot programming, the introduction to basic concepts in welding, and the specifics of the arc and electric resistance welding processes.
Completing this course, students will be able to independently write programs to follow the trajectories needed to perform spot and arc welding tasks.
1. Definitions and classification of industrial robots. Configurations. 2. Mechanical structure of industrial robots. Singularities. 3. Spatial descriptions and transformations. Homogeneous transformations-coordinate systems. 4. Kinematics (joint and world coordinates, DH algorithm, direct and inverse kinematic problem). 5. Robot sensors. Robot control (PTP and CP control). 6. Artificial intelligence. Intelligent control. 7. Programming of industrial robots. 8. General introduction to welding technology. Classification of welding processes. Symbolic representation of welded joints. 9. Arc welding and equipment. 10. Resistance welding. 11. The technology of arc welding and resistance welding processes.
Three exercises: Spatial relations and transformations; Direct kinematic problem; Inverse kinematic problem. Three laboratory exercises: Modeling and simulation of industrial robot systems; Robot programming; Arc welding processes. Spot welding;
Defined by the Study Program Curriculum.
Resources of the Laboratory for Industrial Robotics and Artificial Intelligence (Robotics & AI) and resources of the Welding laboratory.
Total assigned hours: 60
New material: 20
Elaboration and examples (recapitulation): 10
Auditory exercises: 0
Laboratory exercises: 9
Calculation tasks: 6
Seminar paper: 5
Project: 0
Consultations: 0
Discussion/workshop: 0
Research study work: 0
Review and grading of calculation tasks: 0
Review and grading of lab reports: 0
Review and grading of seminar papers: 1
Review and grading of the project: 0
Test: 2
Test: 3
Final exam: 4
Activity during lectures: 10
Test/test: 50
Laboratory practice: 0
Calculation tasks: 0
Seminar paper: 10
Project: 0
Final exam: 30
Requirement for taking the exam (required number of points): 30
Galvery W., Marlow F., Welding Essentials: Questions and answers, Industrial Press, Inc., New York, ISBN 9780831133016, 2007.; Kalpakjian S., Schmid S.R., Manufacturing engineering and technology, Pearson Education, ISBN 0-13-148965-8, 2006.; Kou S., Welding metallurgy, John Wiley&Sons, 2nd.ed., New Jersey, ISBN 9780471434917, 2003.; Sciavicco L., Siciliano B., Мodelling and control of robot manipulators, Springer London, ISBN 978-1-85233-221-1, 2000.; Tsai L.W., Robot analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, ISBN 978-0-471-32593-2, 1999.