Industrial Robots for Assembly Applications

Students learn to differentiate between serial and parallel structures and to divide robots into major and minor axes. Knowledge of work spaces, implementation criteria and construction design is expanded. Students also get an overwiew of necessary components for robots, such as drives, sensors and measuring systems. After completing the course, students are able to indicate and calculate the kinematic and dynamic models for various robots. All regulatory approaches and hardware compositions necessary for controlling, as well as textual and graphical-interactive prgramming styles are taught. The lecture gives entry-level understanding of the interdisciplinary and comprehensive product "industry robot", which is an important subsystem of complex manufacturing environments.

• Introduction: History, robot groups, areas of application
• Structure desing: Degree of freedom, hinges, serial and parallel structures, robot structure 
• Programming: Programming processes, programming languages (esp. RAPID, KRL)
• Kinematics: Elemantary transformation, kinematic robot model, calculation processes, singularities
• Dynamics and position control: Dynamic robote model, calculation of driving forces and torques, processes for position control
• Controlling: Motion generation, technical structure, sensor integration