Programming for robots and manipulators (VRM)

Requirements:

Software:

Robot Operating System (ROS)
RoboStudio ABB
Automation Studio B&R
Linux Ubuntu (16.04 or 18.04)
Unity3D and Vuforia

Programming Language:

Python and/or C/C++, C#

Other:

Algorithmization, Programming, Mathematics and Optimization

Description:

The VRM (Programming for Robots and Manipulators) course enables students to acquire skills and knowledge in programming industrial / mobile robots and manipulators. This course also expands skills in advanced system integration and deployment in real-world robotic applications. The aim of the VRM course is to introduce students to modern approaches to robotic technology with a focus on programming, kinematics / dynamics solutions, motion planning, Industry 4.0 and the use of artificial intelligence (AI).

The main focus is on students practical skills in laboratory exercises, which include several blocks:

1. RobotStudio ABB
2. Forward/Inverse kinematics
3. Robotic operating system (ROS) extended by advanced industrial capabilities ROS-Industrial (ROS-I)
4. Virtual / digital twin using Unity3D extended by system integration with B&R Automation PLC via OPC UA
5. A simple demonstration of augmented reality based on robotics

These few blocks are extended by theoretical knowledge, which students acquire in the form of lectures.

Link: Detailed description of the Syllabus (Czech)

Link: Course descrition - FME, BUT

Detailed description of the Syllabus:

Week 1 (8. 2. 2021):

• Introduction to the course, main goals, methods and evaluation criteria, etc.
• Introduction to the issue, development and definition of robots, manipulators.
• Introduction of an advanced robotic production line called Industry 4.0 (i4C).

Link: Lecture 1

Week 2 (14. 2. 2021):

• Stationary industrial robots and single-purpose manipulators. Specific constructions of industrial robots, parallel structures. Programmable logic controllers (PLC) and use in robotics.
• Control and programming of industrial robots. Introduction of basic tools for creating robotic simulations.
• Assignment of seminar paper.

Link: Lecture 2

Week 3 (22. 2. 2021):

• End-effectors and their adaptability.
• ABB RobotStudio - Workshop (Part 1: Introduction, Create tool, Simple task with an industrial robot, etc.)
• Assignment of project.

Link: Lecture 3

Link: Laboratory 1

Week 4 (1. 3. 2021):

• ABB RobotStudio - Workshop (Part 2: Simple task with an collaborative robot, Conveyor control, Smart gripper, Sync., etc.)

Link: Laboratory 2

Week 5 (8. 3. 2021):

• Forward / Inverse Kinematics.
• Demonstration of Forward / Inverse kinematics on a two-link simple manipulator. Creation of a working envelope of a specified robotic construction.

Link: Lecture 4

Link: Laboratory 3

Week 6 (15. 3. 2021):

• Differential Kinematics and Robotic Dynamics.
• BRNO INDUSTRY 4.0 | 2021 (online): 5th International B2B Conference about Production Digitization and Smart Technologies for Industry
• Demonstration of Differential Kinematics on a two-link simple manipulator. Example of dynamics calculation using Euler-Lagrange equation.

Link: Lecture 5

Link: Laboratory 4

Week 7 (22. 3. 2021):

• Motion planning in robotics (mobile, industrial robots) using classical Joint / Cartesian interpolation and other planning methods such as RRT (Rapidly-exploring random tree), PRM (Probabilistic roadmap) and Reinforcement / Deep-Reinforcement learning.
• Bezier curves (Linear, Quadratic, Cubic).
• Demonstration of simple motion planning using Joint / Cartesian interpolation on a two-link manipulator. Trajectory smoothing using Bézier curves. Animation of the resulting trajectory, check of reachable points, etc.

Link: Lecture 6

Link: Laboratory 5

Week 8 (29. 3. 2021):

• ROS (Robot Operating System), ROS-I (Industrial) Introduction.
• ROS installation (melodic distribution), package configuration, explanation of basic concepts (topics, services, messages, etc.)
• A simple example of TurtleSim motion control and working with a terminal.
• Creating a ROS workspace for simple control of TurtleSim motion using the Python programming language (catkin, rospy, launch file, etc.)

Link: Laboratory 6

Week 9 (5. 4. 2021):

• National Holiday (Easter Monday)

Week 10 (12. 4. 2021):

• Simple demonstration of robot motion control and trajectory planning via the ROS system using several simulation tools (RVIZ, gazebo, etc.)
• Controlling the movement of multiple industrial robots (ABB, Fanuc, Universal Robots, etc.) using the Python programming language (catkin, rospy, launch file, etc.)
• Presentation of students' Bachelor's theses (ROS, robotics, system integration, etc.)

Link: Laboratory 7

Week 11 (19. 4. 2021):

• Unity3D as a tool for creating digital / virtual twins, connection with B&R Automation Studio (follow-up project from the VPL course).
• Introduction to augmented reality and a simple demonstration of the application in the real world.

Link: Laboratory 8

Week 12 (26. 4. 2021):

• Introduction to the concept of Industry 4.0.
• Industry 5.0, 6.0 and automation a few years later.

Week 13 (3. 5. 2021):

• Presentation of team projects.

Assessment Methodology:

Description:

• Active participation in laboratory exercises and lectures: 10 points
• Seminar paper: 20 points [Link]
• Project no. 1: 30 points [Link]
• Project no. 2 (Team project): 40 points [Link]

The condition for writing a seminar paper is the use of LaTex (e.g., Overleaf -> Online LaTeX Editor). Projects are submitted via GitHub, which will contain a folder of all relevant files for each project and a short description in English.

The penalty equation for late submission of a project is defined as:

$\Large p_s = \lvert \frac{\Delta t}{24}e^{\frac{1}{2}} \rvert + \delta_p,$

where $\Delta t$ is defined as the difference between the date of deadline and the date of assignment of the project (in hours), and $\delta_p$ is the project error factor defined as $\frac{s_{max}}{10}$.

The maximum possible score is defined as:

$\Large s = s_{max} - p_s,$

where $s_{max}$ is the initial maximum score, and $p_s$ is a penalty.

The script for the calculation can be found at [Link].

Resources and Literature:

Textbooks:

1. Introduction to AI Robotics, Robin R. Murphy
2. Roboty a robotizované výrobní technologie, Zdeněk Kolíbal
3. Handbook of Robotics, Bruno Siciliano
4. Modern Robotics: Mechanics, Planning, and Control, Kevin M. Lynch and Frank C. Park
5. Robotics, Vision and Control, Peter Corke
6. Planning Algorithms, Steven M. LaValle
7. Industrial Robotics: Theory, Modelling and Control, Sam Cubero
8. Mathematics for Computer Graphics, John Vince

Other:

1. IEEE Xplore
2. Science Direct
3. Springer - International Publisher Science

Contact Info:

Roman.Parak@vutbr.cz or Microsoft Teams (recommended)

License

MIT