Introduction to robotics. [ LMECA2732 ]

Optional prerequisite MECA 2755: Industrial automation. The first course of the four-monthly period is devoted to an upgrade of the students not having followed this prerequisite.

Support : lecture notes and copies of the slides used during the lectures.

NB.: the matter being the subject of the examination understands all that was said or shown during the lectures orally, on screen or using other media, and thus does not limit itself exclusively to the text of the “support of course”.

Robotics and automation changed production processes during the closing years of the last century. This course thus aims at describing the main features of robots : - technico-economical justification of robotization - classification of robots - robot components and devices : actuators, transmissions, sensors, end effectors and control - robot programming and task planning - kinematics of robot manipulators and path generation - industrial computer vision.

- Describe the various technical features of industrial robotics used for production. - Analyse the various components (mechanical structures, actuators, transmissions, sensors, ...) involved in industrial robots. - Show the potential - and limitations - of a robot manipulators in practical use.

Oral examination.

NB.: the matter being the subject of the examination understands all that was said or shown during the lectures orally, on screen or using other media, and thus does not limit itself exclusively to the text of the “support of course”.

Lecturing, with support on transparencies (PowerPoint).

Introduction - History and technico-econominal motivations - Definition, classification and performances. Mechanical components : actuators, transmissions, reducers. Robot programming and control schemes (computed torque method). Geometrical and kinematic models : homogeneous transformations, Denavit - Hartenberg parameters, Jacobian matrix, singularities. Direct and inverse kinematical models of serial robot manipulator Modeling of parallel robots Trajectory planning methods. Review of external sensors, includig vision systems (hardware and software aspects). The lectures are illustrated by two laboratories. The first consists in teaching an industrial robot (PUMA). The second one aims at the off lilne programming (by computer simulation) of a robotized assembly cell.

Recommended readings : - B. Gorla et M. Renaud, Modèles des Robots Manipulateurs : Application à leur Commande, Cepadues éditions, 1984. - E. Dombre et W. Khalil, Modélisation, Identification et Commande des Robots, Traité des Nouvelles Technologies : Série Robotique, Hermes, deuxième édition, 1999. - K.S. Fu, R.C. Gonzalez and C.S.G. Lee : robotics : Control, Sensing, Vision and Intelligence, McGraw-Hill, 1987.

Optional prerequisite MECA 2755: Industrial automation. The first course of the four-monthly period is devoted to an upgrade of the students not having followed this prerequisite.

Support : lecture notes and copies of the slides used during the lectures.