• Production Engineering, Semester 1, position 2

The student should acquire fundamental knowledge of industrial robots (basic subsystems, their functioning variants and realization), knowledge needed for robot design, robotized workplaces design, robot programming, intelligent behaviour as well as develop capability for further dealing with subject matter in domain of robotics.

After completed this course the students should be able to: • Understand the role and importance of industrial robots application (effects on productivity, flexibility, product quality and humanization of work). • Solve the problem of robot introducing to the plant/factory. • Select appropriate robot configuration, end-effector and peripheral equipment for given technological task. • Design robotized workplace taking into account cycle time analysis as well as techno-economic analysis (pay back analysis). • Programming the robots as well as robotized cell. • Design the basic manipulator mechanical subsystems as well as select the appropriate components.

New teaching contents: 1. Definitions, functional structure of a robot with subsystem description, classification. 2. Robot kinematics: spatial descriptions and transformations, direct and inverse kinematics problem. 3. Robot control. Control system structure. Single axis control (drive and measuring system, transmission system). Industrial robot control system (PTP and CP). Intelligent control of industrial robots. 4. Sensors, internal and external. End effectors, grippers and tools. 5. Robot programming, methods. Robot programming languages. 6. Robot application. Robot cell layouts and cycle time analysis. Manipulation and processing tasks, assembly, techno-economic analysis. Explanations of new teaching contents: 1. Robot mechanical structure – manipulator. Mobile robots - specifications and types. 2. Description of orientation. Algorithm of associating coordinate systems to robot segments. The Jacobian. 3. Recognition systems. 4. Artificial intelligence within advanced robotic systems.

Practical teaching involves all necessary types of exercises. 1. Five auditory exercises: Kinematics of manipulators. Analysis of drive systems, measuring systems, transmission systems. End effectors. Robot programming. Robot application. 2. Four calculation tasks: Spatial relations and transformations. Robot kinematics and cycle time analysis. Тhree home-works relates to all these areas. 3. Three laboratory exercises: Robot kinematic (mechanical) structure – manipulator. Drive systems, measuring systems and transmission systems. Robot programming. 4. Seminar work: robot kinematics, programming, cycle time analysis.

Study curriculum and student motivation for knowledge acquisition in domain of industrial robots according to the goals set and outcomes offered.

1. Textbook: (2021) Z. Miljković, M.M. Petrović, INTELLIGENT MANUFACTURING SYSTEMS–with excerpts from robotics and artificial intelligence, 1st ed., XXVIII+409 pp., /In Serbian/ UB-Faculty of Mech. Eng. 2. Additional textbook: (2024) D. Milutinović, INDUSTRIAL ROBOTS, 1st ed., XII+761 pp., /In Serbian/ UB-Faculty of Mech. Eng. 3. Z. Miljković, N. Slavković, Handouts for each lecture. /In Serbian & English/ 4. Z. Miljković, N. Slavković, Instructions for doing students' tasks, laboratory exercises and seminar work. /In Serbian & English/ 5. Z. Miljković, N. Slavković, The Course site (http://cent.mas.bg.ac.rs/nastava/ir_msc/index.htm) containing relevant information for students, book references and addresses of robot manufacturers and respective institutions (IFR, RIA, JARA, CIRP, etc.). 6. Facility: Industrial robotics and artificial intelligence laboratory (ROBOTICS & AI) with five industrial robots (LOLA50; GOŠKO; MITSUBISHI Movemaster EX; LOLA RPD1.25; SCARA robot of own development), fifteen mobile robots equipped with sensors and micro-controllers (PAL-TIAGo - Mobile Manipulator Robot with stereo vision system; K-Team's Khepera II mobile robot with gripper and camera; LEGO Mindstorms NXT & LEGO Mindstorms EV3 Sets of reconfigurable mobile robots; RAICO & DOMINO - prototypes of own development mobile robots), twelve cameras, computer platform under Linux operating system, software for simulation and programming WORKSPACE 5, 3D printer as well as educational means. 7. Craig J.J., (1989) Introduction to Robotics: Mechanics and Control, Addison Wesley. 8. Sciavicco L., Siciliano B., (2005) Modelling and Control of Robot Manipulators, Springer. 9. Dudek G., Jenkin M., (2010) Computational Principles of Mobile Robotics, 2nd ed., Cambridge University Press. 10. Connell J.H., (1990) Minimalist Mobile Robotics - A Colony-style Architecture for an Artificial Creature, Academic Press. 11. Angeles J., (2007) Fundamentals of Robotic Mechanical Systems, 3rd ed., Springer.

Total assigned hours: 75

New material: 20
Elaboration and examples (recapitulation): 10

Auditory exercises: 13
Laboratory exercises: 8
Calculation tasks: 8
Seminar paper: 1
Project: 0
Consultations: 0
Discussion/workshop: 0
Research study work: 0

Review and grading of calculation tasks: 3
Review and grading of lab reports: 0
Review and grading of seminar papers: 1
Review and grading of the project: 0
Test: 2
Test: 4
Final exam: 5

Activity during lectures: 5
Test/test: 60
Laboratory practice: 0
Calculation tasks: 0
Seminar paper: 5
Project: 0
Final exam: 30
Requirement for taking the exam (required number of points): 30

Z.Miljković, M.M.Petrović, (2021) INTELLIGENT MANUFACTURING SYSTEMS – with excerpts from robotics and AI, Textbook (In Serbian), XXVIII+409 pp. (ISBN 978-86-6060-071-6), UB-Faculty of Mechanical Eng.; D. Milutinović, (2024) INDUSTRIAL ROBOTS, (I edition), Additional textbook (In Serbian), XII+761 pp. (ISBN 9788660601751), University of Belgrade - Faculty of Mechanical Engineering.; Groover P.M., Weiss M., Nagel R.N., Odrey N.G. (1987 & 2017 - Special Indian 2nd Edition) Industrial Robotics: Technology, Programming and Applications, 480 pp. (ISBN 978-0071004428), McGraw-Hill.; Pires N.J. (2007) Industrial Robots Programming: Building Applications for the Factories of the Future, 282 pp. (ISBN 9780387233260), Springer Science & Business Media.; McKerrow P.J. (1991) Introduction to Robotics, 811 pp. (ISBN 9780201182408), ACM Press frontier series - Electronic systems engineering series, Addison Wesley Publishing Company.