Winter semester (winter / summer)

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1 MODULE DESCRIPTION Modue code Modue name Modue name in Engish Vaid from academic year 2013/2014 MODULE PLACEMENT IN THE SYLLABUS Programowanie robotów przemysłowych Industria Robots Programming Subject Leve of education Studies profie Form and method of conducting casses Speciaisation Unit conducting the modue Modue co-ordinator Mechanics and Machine Design 1 st degree (1st degree / 2nd degree) Genera (genera / practica) Fu-time (fu-time / part-time) CAD/CAE The Department of Automation and Robotics Laser Processing Research Centre Leszek Płonecki, PhD hab., Eng., Professor of the University Approved by: MODULE OVERVIEW Type of subject/group of subjects Modue status Language of conducting casses Modue pacement in the syabus - semester Subject reaisation in the academic year Speciaist subject (basic / major / speciaist subject / conjoint / other HES) Compusory (compusory / non-compusory) Poish 5 th semester Winter semester (winter / summer) Genera Mechanics, Modeing Process Dynamics and Simuation, the Theory of Vibrations and Machine Initia requirements Dynamics, the Theory of Machines and Mechanisms, Eectrica Engineering, the Fundamentas of Eectronics, Metroogy, the Fundamentas of Machine Design (modue codes / modue names) Examination No (yes / no) Number of ECTS credit points 5 Method of conducting casses Lecture Casses Laboratory Project Other Per semester a. Tysiącecia Państwa Poskiego Kiece te , e-mai: d.siwinska@tu.kiece.p Projekt,,Poitechnika Świętokrzyska uczenia na miarę XXI w. na podstawie umowy z Ministerstwem Nauki i Szkonictwa Wyższego UDA POKL /10-00

2 TEACHING RESULTS AND THE METHODS OF ASSESSING TEACHING RESULTS Modue target The aim of the modue is to acquaint students with the issues concerning programming methods of industria robots (together with faciitating their practica appication during aboratory casses. The reaisation of teaching effects with respect to this subject aso requires passing to students main concepts from robotics as we as knowedge of robot construction, their mechanics, contro, and appication (which is reaised mainy during the ectures). Effect symbo Teaching resuts Teaching methods (/c//p/other) subject effects effects of a fied of study W_02 W_04 W_06 A student is knowedgeabe about robot utiisation in various spheres of human activity. A student has knowedge as regards programming methods of industria robots. A student has knowedge of the types of manipuativeocomotive machines and the range of utiising them. A student has knowedge of the construction and the method of operation concerning robot contro system. A student has knowedge on the tasks of manipuator mechanics, its anaysis methods and utiisation in manipuator contro. A student has fundamenta knowedge of the methods of panning manipuator trajectory, the range of their appication as we as utiising the effects of panning robot contro by the system. A student has knowedge on cassica and noncassica contro agorithms which are appied in robot contro systems. A student writes simpe programs to move objects with the use of a predefined user interface for an industria robot. A student earns programming fundamentas in the advanced user mode (with the use of KRL, RAPID, AS, and KAREL anguages). A student writes simpe programs simuating robot tasks (e.g. paetisation and cutting out eements) with the use of the advanced user interface for an industria robot. A student earns the principes of operation of a sampe robot work environment (as we as its advantages). A student writes simpe programs with its use. A student is aware of threats resuting from improper industria robot handing. A student is capabe of participating in teamwork by accepting various roes in it. / ab K_U02 T1A_U02 Teaching contents: Teaching contents as regards ectures a. Tysiącecia Państwa Poskiego Kiece te , e-mai: d.siwinska@tu.kiece.p Projekt,,Poitechnika Świętokrzyska uczenia na miarę XXI w. na podstawie umowy z Ministerstwem Nauki i Szkonictwa Wyższego UDA POKL /10-00

3 Lecture number /6. 6/7. 7/8. Teaching contents The range and subject matter of robotics. Basic notions as regards robotics. Robot types and the range of their appication, robot sampes. The types of manipuative-ocomotive machines: servo-operators, manipuators, teeoperators, and robots. The characteristics of industria robots: oadcarrying abiity, accuracy, repeatabiity, and rate. Position, orientation, and track reaisation accuracy. Generations of industria robots The methods of programming industria robots: programming through earning, utiising programming anguages, PTP and CP systems, autonomous programming systems, and programming in the virtua environment. Appication range and the registered signas. Structura, kinematic, and construction diagrams of manipuators, degrees of freedom and movabiity. Exampes of structures of kinematic units as regards industria robots. Goba, regiona, and oca movements their reaisation in connection with the manipuator structure; redundancy, series, and parae manipuators; the cassification of robots; reachabe and manipuation working space. The mechanisms and drives of industria robot grips. Drive systems of industria robots: eectric, hydrauic, and pneumatic drives. The requirements concerning drives; the appied drive eements as we as the methods of controing them. Measurement and sensoric systems. Genera discussion of manipuator mechanics and the aims of soving mechanics issues. The position and orientation of a too or an object. The reationships between coordinates in diverse systems. Manipuator kinematics: Cartesian and configurationa coordinates; homogeneous transformation matrix for the Denavit-Hartenberg notation (together with their appication). Utiising the Jacobian matrix in manipuator kinematics anaysis. A simpe and inverse kinematics task (together with the methods of reaising them). The eements of manipuator statics and dynamics: simpe and inverse tasks (together with the methods of soving them). Industria robot contro system: signa fow diagram, the conditions of obtaining high quaity assigned trajectory restoration. Panning trajectory in Cartesian and configurationa coordinates: the agorithms of panning. Reference to teaching resuts for a modue W_02 W_04 W_06 Teaching contents as regards aboratory casses Laboratory cass number Teaching contents 1,2 Externa structure of the KUKA robot and its contro box. Basic software eements of the KUKA robot; software description of the robot (TeachPendant). Coordinate system description of the robot. The methods of reaisation and the differences at robot movements for defined trajectories in these systems. 3 Famiiarising students with the aboratory stand. Writing programs for the X-Y manipuator in the Qbasic anguage. 4 The principe of operation of an educationa robot (EduBot). Writing programs for carrying sma objects (seecting robot trajectory, the waiting period, robot veocity, and digita outputs). 5 Defining too coordinates (ToosDefine) and work systems (WorkObjects) for the KUKA robot. Describing zero and post-coision robot mastering. teaching resuts for a modue 6 Writing programs for carrying objects at a aboratory workstand with the a. Tysiącecia Państwa Poskiego Kiece te , e-mai: d.siwinska@tu.kiece.p Projekt,,Poitechnika Świętokrzyska uczenia na miarę XXI w. na podstawie umowy z Ministerstwem Nauki i Szkonictwa Wyższego UDA POKL /10-00

4 KUKA robot (with the use of a predefined user interface). 7 The construction and comparing user interface as we as the anaysis of differences in programming such robots as KUKA 15, Fanuc 420F and other robots in the Automation and Robotics Laboratory. 8 The caibration of a simuation toos concerning a weding torch. Programming weding paths. 9 Input and output system of the KUKA KR 15/2 ROBOT. Writing programs with their use. Introduction to management program fow (oops and condition instructions). 10,11 Programming the KUKA robot in the advanced user mode. Programming a robot with the use of variabes concerning coordinate systems (geometric programming). Introduction to the types and structures of robot data. Programs simuating eement paetisation and cutting out. 12 Programming and industria robot with the use of the advanced user interface. Interface programmer description (FexPendent). Controer interna structure. Defining toos and work programs. Describing a safety system. 13,14 Writing programs for carrying objects or weding with the use of the Robot Studio simuation environment. 15 A credit. The methods of assessing teaching resuts Effect symbo - W_08 W_09 - Methods of assessing teaching resuts (assessment method, incuding skis reference to a particuar project, aboratory assignments, etc.) Tests on ectures. Observing a student s invovement during the ectures. Entry tests before aboratory casses; assessing a student s invovement during the competion of aboratory cass assignments; assessing the quaity of reports on aboratory casses; obtaining a credit for a written test. A discussion during aboratory casses. STUDENT S INPUT ECTS credit points Type of student s activity Student s workoad 1 Participation in ectures 15 2 Participation in casses 3 Participation in aboratories 30 4 Participation in tutorias (2-3 times per semester) 8 5 Participation in project casses 6 Project tutorias 7 Participation in an examination 8 Participation in a fina test on aboratory casses 9 Number of hours requiring a ecturer s assistance 53 (sum) 10 Number of ECTS credit points which are aocated for assisted work 2 a. Tysiącecia Państwa Poskiego Kiece te , e-mai: d.siwinska@tu.kiece.p Projekt,,Poitechnika Świętokrzyska uczenia na miarę XXI w. na podstawie umowy z Ministerstwem Nauki i Szkonictwa Wyższego UDA POKL /10-00

5 11 Unassisted study of ecture subjects Unassisted preparation for casses 13 Unassisted preparation for tests Unassisted preparation for aboratories Preparing reports Preparing for a fina aboratory test 17 Preparing a project or documentation 18 Preparing for an examination 19 Preparing questionnaires 20 Number of hours of a student s unassisted work 70 (sum) 21 Number of ECTS credit points which a student receives for unassisted work 22 Tota number of hours of a student s work ECTS credit points per modue 1 ECTS credit point=25-30 hours 5 24 Work input connected with practica casses Tota number of hours connected with practica casses Number of ECTS credit points which a student receives for practica casses 3 4 a. Tysiącecia Państwa Poskiego Kiece te , e-mai: d.siwinska@tu.kiece.p Projekt,,Poitechnika Świętokrzyska uczenia na miarę XXI w. na podstawie umowy z Ministerstwem Nauki i Szkonictwa Wyższego UDA POKL /10-00