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Valid for university year: 2013 - 2014

Subject name : Subject code : Domain: Study programme : Department: Faculty: University: Study year: Subject type Control systems in robotics Mechatronics and Robotics Robotics Machines and Equipments "Hermann Oberth" Faculty of Engineering "Lucian Blaga" University of Sibiu Semester 6 Type of final evaluation Exam DI Number of credits: 4 DS Total number of hours per semester: 42


(DI=mandatory/ DO=optional/DF=at will):

Formative category of the subject

(DF=fundamental.; DI=engineering; DS=speciality; DC=complementary)

Total number of hours from the 42 curriculum Subject titulary: Lecturer Dr.Eng. Claudia GIRJOB

Total number of hours (per semester) from the curriculum C S L Total hours/ semester 28 14

Total 42


Competences specific for the subject

Acquiring of the knowledge regarding the realising of control systems for robots, especially for industrial robots (IR), with the stages this implies: obtaining the robot's model, planning the robot's movement, realising the control scheme and algorithm using the available model and programming the robot's activities. 1. Knowledge and understanding: Knowledge of the evolution and development of robot control systems Knowledge of the component elements of robot control systems Knowledge of the functioning principles and emphasising of the subsystems of the robot control systems Knowledge of the types and constructive variants. 2. Explaining and interpreting: Explaining and interpreting of the manner of obtaining the robot's model Explaining of the means for realise the scheme, algorithm for controlling and programming robots Capability to explain and operate with the terms specific for robot control systems 3. Instrumental applicative Knowledge of the methods for controlling robots Developing the engineering ability to use the robot control systems

4. Attitudinal: Promoting the attitudinal and aptitudinal qualities specific for the engineering profession; Showing positive and responsible attitudes towards the technical domain; Optimal and creative valorisation of the own potential in goods production activities; Development of the interest for the engineering profession and for the technical training. COURSES TOPICS Curr Topic name no. 1. Introduction. Defining the positioning parameters. 2. Homogeneous representation of objects. Homogeneous transformations. 3. Determining the direct geometrical model (open chain structure). Direct geometrical model for the closed chain structure. 4. The reverse geometrical model. 5. Homogeneous differential transformations. The Jacobi matrix. Examples. 6. Dynamic model for the subsystem actuation. 7. Dynamic model for the manipulation structure. 8. Point-by-point movement trajectory. Continuous movement trajectory. 9. Indicating the movement. Planning the trajectory in generalised coordinates: planning a trajectory between two specified points and planning a trajectory with several specified points. 10. Planning the trajectory in operational coordinates 11. Control of industrial robots using the states space. 12. Numerical control of IR. 13. Control of IR based on the kinematic model. 14. Adaptive control of IR. APPLICATIONS TOPICS 1. Work safety. Presentation of the laboratory 2. Homogeneous geometrical transformations. The direct geometrical model (DGM). The reverse geometrical model (RGM) of IR. 3. Conventional setup systems in the control of industrial robots. Analysis of an adaptive control system with reference model for an axis of an IR. 4. Computerised control of a manipulator with two freedom degrees. 5. Navigation algorithms. Self-tuning PID control algorithm for an axis of an industrial robot. 6. Presentation of the specific programmes for robot control systems 7. Knowledge testing

No. of hours 2 2 2 2 2 2 2 2 2

Topical contents (descriptors)

2 2 2 2 2 2 2

2 2 2 2

Methods for teaching / seminarisation

The procedure during the teaching of the course is classical lecturing, aided by the usage of modern means for image displaying, while among the methods employed there can be mentioned the problematisation, learning through discovery and case study. Concerning the techniques used during the teaching activities, they are: the synthetic presentation, explanations, proving by schemes, graphs etc. The laboratory activities are based on experimentation, using the experiment as method, as well as heuristic methods. answers at the exam/colloquium (final assessment) tests during the semester final answers at the practical laboratory tasks activities such as homeworks/papers/projects etc. control tests other activities TOTAL 50% 15% 20% 15% 100%

Determining of the final grade (percentages)

Describe the practical means for final assessment, E/V (for example: written test (descriptive and/or grid-type test and/or problems etc.), oral examination, individual or group colloquium, project etc.) The final assessment will be done as a written test. Minimal requirements for grade 5 Requirements for grade 10 Mandatory attendance at and execution of all Mandatory attendance at and execution of laboratory activities, with a presentation at the all laboratory activities, with a presentation at semester's end the semester's end, with a maximal grade Tackling and solving at the level of grade 5 of granted during these activities and for the all subjects from partial tests and from the final contents of the presentation. exam. Tackling and solving at the level of the maximal grade of all subjects from partial tests and from the final exam. TOTAL number of hours of individual study (per semester) = 89

Minimal mandatory references: Borangiu Th., Hossu A., Sisteme educa ionale n robotic, Edit. Tehnic, Bucureti, 1991. Davidoviciu A., Drgnoiu Gh., Moang A., Modelarea, simularea i comanda manipulatoarelor i robo ilor industriali, Edit. Tehnic, 1986. Fu K. S., Gonzalez R. C., Lee C. S. G., Robotics, Mc Graw-Hill, 1987. Gh.Lazea,E.Lupu,P.Dobra Sisteme de conducere a robotilor si fabricatie integrata Ed.Mediamira,Cluj-N.,1997 References Pnescu D., Sisteme de conducere a robo ilor industriali - Modelare i planificarea traiectoriei, Rotaprint Universitatea Tehnic Gh. Asachi Iai, 1996. Voicu M., Lazr C., Sisteme de conducere a robo ilor industriali, vol. III, Rotaprint I. P. Iai, 1987. Complementary references: Ivnescu M., Robo i industriali, Edit. Universitaria, Craiova, 1994. Mc Kerrow P.J. Introduction to Robotics. Add.-Wesley Sydney,1995. List of teaching materials used during the teaching process: - books indicated at the minimal mandatory references section, including in electronic format. - overhead projector and video-projector - notebook - apparatusses from the endowment of the speciality laboratory Teaching degree, title, first name, last name Subject coordinator Lecturer Dr. Eng. Claudia GIRJOB Signature

Head of department

Prof. Dr. Eng. Octavian BOLOGA