Introduce students to basic concepts of kinematics and dynamics of advanced robotic systems. It is possible to solve kinematics and dynamics tasks as well as control task of the robot system (RS)-(redundant RS,obstacle avoidance,task planning and navigation,robot vision) based on applications of intelligent methods of control as well as using modern theory based on Rodriguez transformation matrix,quaternions as well as the theory of finite rotations. Determination (simulation) models of RS - i.e. differential equations of motion of the RS, which are important in practical problems of the RS.Practical simulations RS using MATLAB,Cyberbotics Webots software package and students work with laboratory robot NEUROARM.

By attending this course student acquires the ability to analyze problems and synthesis solutions to the problem of kinematics and dynamics of robotic systems using scientific methods and procedures as well as computer technology and equipment. This enabled him applying solutions to practical problems of robotic systems as well as monitoring and implementation of innovation in the development of new robotic systems.

Basic concepts and specifications of advanced robotic system (RS). Rodriguez formula and the transformation matrix (MT). Determining of kinematic parameters of RS. Direct and inverse kinematics of robot task- characteristic cases. Fundamentals of quaternion theory and theory of finite rotations. Differential equations (DIFE)of motion of RS applying Rodrigues approach and quaternions: typical cases-in the form of kinematic chain with the structure of topological three,in the form of closed-kinematic chain. Equations of motion of RS with Langrange multipliers. Kane's equations of motions of RS.Redundant RS. Fundamentals of advanced control algorithms of RS as well as remote control RS. Applications of control of RS based on fractional calculus. Fundamentals of robot programming languages. Solving typical tasks of advanced robotic systems: resolving redundant problem, obstacle avoidance,task planning and navigation,robot vision. A example of biologically inspired intelligent robot.

Examples of determining the number of degrees of motion of the RS; Calculation the Rodriguez transformation matrix(MT)-typical cases,determination of kinematic characteristics of the RS in MATLAB environment. Solving the direct and inverse kinematic task of RS. Solving the direct and inverse dynamics task of the RS in MATLAB environment. Examples of DIFE of RS simulation in MATLAB-GUI, MATHEMATICA environment, an example of a redundant RS. An example of simulation RS using Cyberbotics Webots package. Example of control of the RS-laboratory robot NeuroArm with 7 degrees of freedom in the MATLAB environment. A example of video-servo control of RS.Simulation and control of LEGO Mindstorms robots.

none

1.Čović M. V. Lazarević, Mechanics of Robot, MF Belgrade,2021.(Book) 2.Lazarević M. Exercises in mechanics of robot, MF Belgrade,2006.(ZZD) 3.Wittenburg J., Dynamics of Systems of Rigid Bodies, Teubner, Stuttgart, 1977. (XJ) 4.Craig J., Introduction to Robotics, Mechanics and Control, Addison-Wesley, 2017. 5.Written abstracts from the lectures (Handouts) 6.Cyberbotics Webots - software package 7.NeuroArm-laboratory robot with 7 degrees of freedom. 8.MATLAB,MATHEMATICA-mathematics software packages 9.Kuipers, J.B.: Quaternions and Rotation Sequences: A Primer with Applications to Orbits,Aerospace and Virtual Reality, Princeton University Press, New Jersey, 1999. 10. Craig Sayers,Remote Control Robotics,Springer,1998. 11.C. A. Monje, YQ. Chen, B. M. Vinagre, D. Xue, V. Feliu, Fractiona Order Systems and Controls – Fundamentals and Applications, Springer, 2010

Total assigned hours: 65

New material: 30
Elaboration and examples (recapitulation): 20

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

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

Activity during lectures: 0
Test/test: 0
Laboratory practice: 0
Calculation tasks: 0
Seminar paper: 50
Project: 0
Final exam: 50
Requirement for taking the exam (required number of points): 30

Bruno Siciliano, Oussama Khatib, Springer Handbook of Robotics,Springer-Verlag Berlin Heidelberg 2008.; Thomas R. Kurfess.,Robotics and automation handbook,CRC Press LLC, Boca Raton, Florida,2005; Ahmed A. Shabana, Dynamics of Multibody Systems,Cambridge University Press The Edinburgh Building, Cambridge , UK,2020; M.W. Spong, M. Vidyasagar: Robot Dynamics and Control (Wiley, New York 1989); Yoseph Bar-Cohen, Cynthia L. Breazea,Biologically Inspired Intelligent Robots ,SPIE org,2003