Electromechanical Systems of Robotic Complexes

Major: Electrical Energetics, Electrical Engineering and Electromechanics
Code of subject: 7.141.11.E.042
Credits: 5.00
Department: Electromechatronics and Computerized Electromechanical Systems
Lecturer: Associate Professor, PhD, Ihor Bilyakovskyy
Semester: 2 семестр
Mode of study: денна
Learning outcomes: • the knowledge of classification and control systems construction of the robots of different generations • the knowledge of the principles of motion control of industrial robots with the cyclic, position and contour control systems, features of adaptive control realizing in the electromechanical systems of robotic complexes • knowledge of principles mathematical modeling of manipulators with the use of the Lagrange-Euler's equation and the Denavit-Hartenberg convention.
Required prior and related subjects: • Automated control systems of technological processes. • Modern alternating current electric drive.
Summary of the subject: Сycle, position and contour systems of programing control of industrial robots. Control systems of industrial robots based on the programmable logical controllers (PLC). Adaptive control of the electromechanical systems of robotic complexes. Control system of the robots of higher generations. Kinematics and dynamics of manipulators.
Assessment methods and criteria: • written reports on laboratory works, oral questioning (30%). • final control (control measure - exam): written and oral form (70%).
Recommended books: 1. Мазепа С.С. Програмне керування роботами в РТК. Навчальний посібник. / [С.С.Мазепа, А.С.Куцик] / – Львів, НУ "Львівська політехніка". – 2003 р. 2. Юревич Е.И. Основы робототехники. 2-е изд. перераб. и доп. – СПб. : БХВ-Петербург, 2005. – 411 с. 3. Пупена О.М.. Програмування промислових контролерів у середовищі UNITY RRO. Навч. посібник. / [О.М. Пупена, І.В. Ельперін] / – К. : Видавництво Ліра-К, 2013. – 376 с.