Robotics

Description

Learning outcomes and development goals: MK1 L Scientific-disciplinary knowledge and comprehension in the field of Engineering Technology MI1 L Problem analysis and solving MI2 L Design and/or development MI2 V Creative and innovative attitude MI3 L Application-oriented research MP1 L To make operational MG1 L Information gathering and processing MG2 L Communication with engineers and non-engineers MG2 V Communicative attitude MG3 L Critical thinking MG4 L Working in a team in different roles MG4 V Cooperative attitude Objectives: The student has a good knowledge of what a robot is, the different types and categories of robots that exist and can explain their basic characteristics (MK1 L ). The student understands and can explain the different robot categories and application domains of robotic technology spanning industrial (automation) and service applications (MK1 L , MK2 L ) The student understands and can explain the basic components that form a robot (MK1 L ). The student can identify the different components and the overall configuration (via a link diagram) of any specific robot by observing the displayed motion and the overall construction of a robotic system (MI1 L ). The student understands and can derive the different types of spaces (joint space, Cartesian, velocity, acceleration, actuator space, task space, object space) and of mappings or transformations between spaces (MK1 L , MI1 L ). The student understands, can explain and can derive the mathematical tools that are used in robotics to describe the position, the orientation, in short the pose, of a body (rigid or soft) in space (MK1 L , MI1 L ). The student understands, can explain and can compute trajectories between points or poses in space (MK1 L , MI1 L ). Knowing the robot’s configuration, the student understands and can explain the feasible motions that can be produced by said robot. (MI1 L ). The student can derive the workspace of a robot, the boundaries of the workspace and the robot’s ability to precisely display small or large twists and wrenches across the robot’s workspace. The student understands the concepts of twist and wrench and is able to explain differential kinematics and the link between torques, joint speeds, twists and wrenches (MK1 L , MK2 L ). The student can derive forward, inverse and differential kinematics, can explain and compute robot Jacobians, transposes and inverse Jacobians of robots and link them with the robot’s motion/force/torque/acceleration generating capability across the workspace  (MK1 L , MK2 L , MI1 L and MI2 L , MG3). The student has a good understanding of formulating automation tasks - such as positioning or manipulation tasks - in 3D space (MK1 L , MK2 L , MI1 L and MI2 L ). The student knows how to select, model and control robots and kinematic structures to execute appropriate force/torque trajectories and motion profiles in 3D (MK1 L , MI1 L and MI2 L ). The student knows what redundancy and nullspace is and can explain how to use it (MK1 L ), The student knows, understands and can derive the dynamic behaviour of robots (MK1 L , MK2 L , MI1 L and MI2 L ). The student understands the working of visual servoing and can explain and compute motion trajectories based on sensory input from exteroceptive sensors such as cameras  (MK1 L , MK2 L , MI1 L and MI2 L ). When working in ill-defined environments, robotic operation can benefit from user interaction. Students will get a basic understanding of different interaction modalities (teleoperation, co-manipulation or hands-on control) (MK1 L ) and understand the implications on the design and functionality of a robotic system [MI2 L , MG3 L ]. The students creatively approach practical robotic problems and make trade-off between different approach to deal with the problem at hand (MI2 L ). The students are able to work in a team and analyse in practice the above technologies and are able to report and communicate their findings (MG2 L , MG4 L and MG4 y )