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# Robotics and Multibody Systems

ME-RMS1

1.0

## Offered by

Mechanical Engineering

## ECTS

5

### Prerequisites

Calculus, dynamics, kinematics.

### Main purpose

Analysis of commercial robots, design and analysis of “home-made” robots and mechanisms, simple programming of a robot, and basic knowledge of the application of machine vision in robotics.

### Knowledge

The student can explain the structure of robots, mechanisms, multi body systems and manipulators. In addi-tion, the student can express kinematics, kinetics, and dynamics for robot systems.
Robots:
• Spatial descriptions of robots, mechanisms and manipulators

• Coordinate transformation and transform arithmetic
• Forward manipulator kinematics (position, velocity and accelerations) and inverse manipulator kine-matics
• Manipulator kinetics (forces and torques)
• Planning robotic motion
• Calculation of motion, forces, torques for robots with MathCAD and simulation with MatLab.
• Programming of robots

Multi Body:

• Mechanism definition and structure.

• Frames, body orientation, generalized coordinates, geometric constraints and driving constraints.
• Kinematical analysis (position, velocity and acceleration)
• Kinetic analysis, mass and inertia, applied forces
• Forward and inverse dynamics
• Multi Body programs (for example in MatLab)

Machine vision
• Structure of machine vision system
• Applications of machine vision
• Image enhancement, segmentation and feature extraction
• Image recognition

### Skills

The student can design a manipulator (for example a special designed robot for industry and laboratories) and analyze the dynamics (positions, velocities, accelerations, forces and torques in time domain). The student can write simple programs for a robot.
The student can analyze a closed mechanism (multi body system) with respect to motion, forces and torques. In addition, the student can apply Multi Body analysis software.
The student can decide, if and how a vision system must be applied.

### Competences

The student can analyze a commercial robot and design and construct a “home-made” robot or mechanism on sketch level.

### Teaching methods and study activities

The total workload for the student is 136 hours.

The didactic method is classroom teaching, problem solving and homework.

Study activity model
Category 1, Initiated by the lecturer with the participation of lecturer and students: 42 hours – 30%
Category 2: Initiated by lecturer with participation of students: 42 hours – 30 %
Category 3: Initiated by students with participation of students: 42 hours – 30 %
Category 4: Initiated by students with the participation of lecturer and students: 10 hours – 10%

### Resources

John J. Craig, Introduction to Robotics: Mechanics and Control, Pearson, latest edition

### Examination

​​Requirements for attending examination
Requirements for attending examination:
- A certificate form Universal Robot Academy
- A simulation  finished in RoboDK (15 hours)
- Course assignments for examination (25 hours)

Type of examination
Individual oral examination without preparation based upon course assignment(s)
Examinations account for 100 % of final grade
Censor: Internal

Allowed tools
Course literature according to the course description, Personal notes, Laptop, Calculator

Re-examination
As the ordinary examination

7-point scale

Per Ulrik Hansen

### Valid from

2/1/2019 12:00:00 AM

### Course type

Intelligent Mechanics