|
ECTS:
|
5
|
Lecturers in charge:
|
Prof. dr. sc.
Zdenko Kovačić
|
Take exam:
|
Studomat
|
English level:
1,0,0
|
All teaching activities will be held in Croatian. However, foreign students in mixed groups will have the opportunity to attend additional office hours with the lecturer and teaching assistants in English to help master the course materials. Additionally, the lecturer will refer foreign students to the corresponding literature in English, as well as give them the possibility of taking the associated exams in English.
|
|
Load:
|
| Lecture type | Total |
| Lectures |
45 |
* Load is given in academic hour (1 academic hour = 45 minutes)
|
Description:
|
Robot types and their characteristics. Forms and characteristics of robot elements. Position and orientation of rigid body. Denavit-Hartenberg convention. Kinematics and inverse kinematics. Modeling of robot dynamics. Lagrange-Euler and Newton-Euler methods. Trajectory planning. Interpolation methods. Hierarchical robot control. Algorithms for control of coordinates of robot joint servo systems (position, speed, torque and force).
|
Literature:
|
- Fundamentals of robotics (in Croatian); Z. Kovačić, S. Bogdan, V. Krajči; Graphis d.d.; 2002
- Industrial robots (in Croatian); M. Crneković, T. Šurina; Školska knjiga; 1990
- Fundamentals of Robotics - Analysis and Control; R.J. Schilling; Prentice-Hall, Englewood Cliffs, New Jersey; 1990
|
|
1. semester
|
course for
profile
Control Engineering and Automation
|
|
