Course syllabus
Course PM
MPR213 Robotics and manufacturing automation lp4 VT20 (7.5 hp)
Course is offered by the department of Industrial and Materials Science
Contact details
Course Examiner: Henrik Kihlman, phone: 0731558102, henrik.kihlman@chalmers.se
Robot Laboratory: Per Nyqvist, phone: 7723597, per.nyqvist@chalmers.se
Content
Industrial robots become better, faster and cheaper and they can do much more than hard labour like spot welding which they traditionally are used for. They can take on more “human” capabilities and traits such as sensing, dexterity, memory and trainability. This explains why they can take on more jobs, such as refined picking and packaging, testing, inspecting products or assembling of minute electronics. Also, a new generation of collaborative robots enables the robots to leave their cages and literally work hand-in-hand with human workers who train them through physical demonstration.
This course will introduce the science of industrial robotics, starting from a basic level, but also give examples on ongoing research in the area. Furthermore, company visits and guest lecturers will share examples on the challenges to deploy and use robots in industry. Lab exercises will serve as practical training how to work with and prepare the physical robots for their missions. One of the sciences used to control and analyse robots is the theory of kinematics and this will be covered in lectures as well as lab exercises.
The course consists of four parts:
- Theoretical description of robotics with lectures based on course literature
- Problem solving with lectures and exercises on robot kinematics,
- Practical laboratory work, offline programming, simulation and online verification.
- Writing a report, to be submitted 25/5
Schedule
Examination form
Written examination and lab exercises. The grades on exam are: fail, 3, 4 and 5.
The written examination consists of totally 60 points. The exam questions will be based on all lectures and literature found on this portal. There will be questions based on the theoretical parts, guest lectures and kinematics calculations.
Grades 30-39p = 3 40-49p = 4 50-60p = 5
Lab 5.1, Lab 5.2 and Lab 5.6 are mandatory for the course
Assignment
From all guest lectures from industry (Hexagon, ABB, Volvo Cars, IFM, Prodtex Ltd) write a summary on this question:
For the companies that are participating in the course, in the context of industrial robots, what are the 5 most important areas to develop further in order to meet the market demands 10 years from now.
There must be inputs from all companies (ifm, FCC, ABB, Siemens, Volvo Cars, Prodtex Ltd, Hexagon).
The report will summarize the inputs from the companies giving lectures in the MPR213 and in the end of the report you will summarize your thoughts into what you think is the most important challenges for these companies the next ten years.
The report is mandatory and must be approved to fulfill the requirement of the course.
Maximum of 2 pages. No hand-written reports. Font size 12 Arial. The final report is handed in on Canvas as a pdf document with deadline 2020-05-25.
Learning objectives
After completion of this course, the student should be able to:
| L1 | Understand the anthropomorphic architecture of a standard industrial robot and to explain the advantages and disadvantages to other more unconventional robot architectures. |
| L2 | Categorize the abstraction levels of programming robots |
| L3 | Demonstrate the use of 3D-simulation tools for industrial robots and explain and apply the method to do offline programming of robots. |
| L4 | Summarize and compare different sensor usage to improve the performance of industrial robotics in more advanced automation processes. |
| L5 | Interpret and solve kinematic equations to explain how a robot controller calculates robot movements. |
| L6 | Understand the concept of path planning in order to populate collision free robot trajectories in order to shorten lead-time in industrial automation projects. |
| L7 | Formulate the challenges and advantages in using simulation and offline programming systems and compare the differences using OLP systems at SME and OEM companies. |
| L8 | Summarize and justify the use of flexible fixtures compared to today’s dedicated fixtures. |
| L9 | Summarize the key activities to successfully implement robot projects in industry. |
| L10 | Explain the potential and challenges in using human collaborative robots. |
| L11 | Understand and explain the science of parallel kinematic robots. |
| L12 | Understand the basics of Collaborative Robotics and Identify key differences between Industrial Robots and Collaborative Robots |
| L13 | Demonstrate basic programming skills with cobots |
These learning objective points will be derived into the course schedule matrix further in this PM.
Some questions (Q) to be answered during lectures. This questions is found in the schedule:
|
Q1 |
What will this course cover, how is it structured and how will you be examined? |
|
Q2 |
What is the history of robotics and what is an industrial robot? |
|
Q3 |
What will the labs be about and how are they organized? |
|
Q4 |
What is the state-of-the art in robot programming and offline programming? |
|
Q5 |
How does a Virtual Robotic process work and what are the abstraction levels of programming? |
|
Q6 |
What are the most common robot applications today? What are the most common collaborative robot applications and how will the collaborative robotics look like in future? |
|
Q7 |
What are the limitations in industrial robots today and how can they be improved? |
|
Q8 |
What external sensors are used with robotics and how can they be used to improve the robots performance? |
|
Q9 |
What is the homogeneous transformation matrix? |
|
Q10 |
How can Virtual Robotics benefit from flexible fixtures? |
|
Q11 |
How can Fixture Design Configurators improve productivity? |
|
Q12 |
What is automatic path planning and how does it work using IPS? |
|
Q13 |
How will this course utilize IPS? |
|
Q14 |
How do path planning algorithms work in theory? |
|
Q15 |
How does kinematics work in a robot, which is positioned statically? |
|
Q16 |
How can the Jacobian matrix be used to describe the motion of a robot? |
|
Q17 |
How are metrology arms and trackers used to calibrate robot cells? |
|
Q18 |
How metrology arms are used to calibrate robot TCP for robot tools? |
|
Q19 |
How can the surrounding equipment be calibrated using laser scanners to generate a complete simulation environment? |
|
Q20 |
How is the role of Robotic Simulation changed in the scope of a corporate “Digital Twin” of the entire manufacturing process? |
|
Q21 |
How does Volvo Cars apply Virtual Robotics in their processes and what is VOLP? |
|
Q22 |
What is industry 4.0, smart factories, digitalization from a production perspective? |
|
Q23 |
How can cameras be used to generate 3D data? |
|
Q24 |
What is parallel kinematics? |
|
Q25 |
How does kinematics work for parallel kinematic devices? |
|
Q26 |
How can kinematics of robots be designed using a 3D virtual simulation software systems? |
|
Q27 |
How can the 3D Simulation System DELMIA be used to create robot kinematics? |
|
Q28 |
What are the key factors to succeed in implementing industrial robots? |
|
Q29 |
Which are the major cost drivers in implementing industrial robots? |
|
Q30 |
What are the biggest challenges at Dassault Systemé in robotics the next 10 years? |
|
Q31 |
What is the advantages and risks of using collaborative robots? |
Course Schedule
|
Week |
Day |
Date |
Room |
Time |
Lecturer |
Content |
Literature |
Learning Objectives |
Research Questions |
|
|
|
|
|
|
|
|
|
|
|
|
W13 |
Tue |
24/3 |
ZOOM |
13-15 |
Henrik Kihlman |
Course Introduction, |
1.1ch1, 1.1ch2 |
L1 |
Q1, Q2 |
|
|
Tue |
24/3 |
ZOOM |
15-17 |
Per Nyqvist |
Lab Exercises & |
|
|
Q3 |
|
|
Thu |
26/3 |
ZOOM |
13-15 |
Henrik Kihlman |
Robot Theory |
1.1ch1, 1.1ch2 |
L2 |
Q4, Q5 |
|
|
Thu |
26/3 |
ZOOM |
15-17 |
Henrik Kihlman |
Robot Theory |
1.1ch9 |
L3 |
|
|
|
Fri |
27/3 |
|
13-17 |
|
Lab Session |
|
|
|
|
W14 |
Mon |
30/3 |
|
13-17 |
|
Lab Session |
|
|
|
|
|
Tue |
31/3 |
ZOOM |
13-15 |
Per Nyqvist |
Object Location |
4.2, 4.10 |
L5 |
Q9 |
|
|
Tue |
31/3 |
ZOOM |
15-17 |
Per Nyqvist |
Manipulator Position |
4.5, 4.10 |
L5 |
Q15 |
|
|
Wed |
1/4 |
|
13-17 |
|
Lab Session |
|
|
|
|
|
Thu |
2/4 |
ZOOM |
13-15 |
Per Nyqvist |
Manipulator Motion |
4.8, 4.10 |
L5 |
Q16 |
|
|
Thu |
2/4 |
ZOOM |
15-17 |
Per Nyqvist |
Manipulator Motion cont. Kinematic Repetition |
4.8, 4.10 |
L5 |
Q16 |
|
|
Fri |
3/4 |
|
13-17 |
|
Lab Session |
|
|
|
|
W16 |
Wed |
15/4 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: ABB Priority Group 1-3 |
|
|
|
|
|
Thu |
16/4 |
ZOOM |
13-16 |
Henrik Kihlman |
Robot Theory |
1.1ch4, 1.1ch7 2.5, 2.6 |
L8 |
Q6, Q7, Q8 |
|
|
Fri |
17/4 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: ABB Priority Group 4-6 |
|
|
|
|
W17 |
Mon |
20/4 |
ZOOM |
13-15 |
Per Uno Olsson Peter Petersson Per Nyqvist Jonatan Berglund |
Shop Floor Toolkit demo together with Hexagon |
2.3, 3.1-3.3 |
L4 |
Q17, Q18, Q19 |
|
|
Tue |
21/4 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: ABB Priority Group 7-9 |
|
|
|
|
|
Wed |
22/4 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: ABB Priority Group 10-12 |
|
|
|
|
|
Thu |
23/4 |
13-15 |
Johan Nordling Siemens Henrik Carlsson |
Enterprise Robotics |
2.1, 2.2 |
L3, L7 |
Q20, Q21 |
|
|
|
Thu |
23/4 |
ZOOM |
15-17 |
Per Nyqvist |
Parallel Kinematics |
|
L11 |
Q24, Q25, Q27 |
|
|
Fri |
24/4 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: ABB Priority Group 13-15 |
|
|
|
|
W18 |
Mon |
27/4 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: ABB Extra opportunity |
|
|
|
|
|
Tue |
28/4 |
13-15 |
Robert Bohlin |
Path Planning SW Advanced Simulation |
2.5 |
L6 |
Q12, Q13, Q14 |
|
|
|
Tue |
28/4 |
15-17 |
Jonas Lindgarde Sebastian Vögele IFM Electronic |
Industry 4.0 Internet of things |
|
L4 |
Q22, Q23 |
|
|
|
Wed |
29/4 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: ABB Extra opportunity |
|
|
|
|
W19 |
Mon |
4/5 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: PathPlanner Priority Group 1-3 |
|
|
|
|
|
Tue |
5/5 |
13-14 |
Peter Helgosson Prodtex AB |
Digital Factory in Aerospace Industry |
|
|
|
|
|
|
Tue |
5/5 |
14-15 |
Henrik Kihlman | Robot Theory |
|
|
|
|
| Tue | 5/5 | ZOOM | 15-16 | Henrik Kihlman | Demonstrating 3DExperience for Robotics | ||||
|
|
Wed |
6/5 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: PathPlanner Priority Group 4-6 |
|
|
|
|
|
Thu |
7/5 |
https://chalmers.zoom.us/j/2317726466 |
13-15 |
Omkar Salunke |
Collaborative Robots |
|
L10, L12 |
Q31 |
|
|
Thu |
7/5 |
https://chalmers.zoom.us/j/2317726466 |
15-17 |
Omkar Salunke |
Lab |
5.7 |
L13 |
Q31 |
|
|
Fri |
8/5 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: PathPlanner Priority Group 7-9 |
|
|
|
|
W20 |
Mon |
11/5 |
13-17 |
Henrik Kihlman |
Lab Group 1-5 |
|
|
|
|
|
|
Tue |
12/5 |
|
|
Lecture moved to 25/5 |
|
|
|
|
|
|
Wed |
13/5 |
13-17 |
Henrik Kihlman |
Lab Group 6-10 |
|
|
|
|
|
|
Thu |
14/5 |
13-15 |
ABB |
Robot research at ABB, Bertil Thorvaldsson |
|
|
|
|
|
|
Fri |
15/5 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: PathPlanner Priority Group 10-12 |
|
|
|
|
W21 |
Mon |
18/5 |
13-16 |
Henrik Kihlman |
Robot Theory |
|
|
|
|
|
|
Tue |
19/5 |
13-17 |
Henrik Kihlman |
Lab Group 10-15 |
|
|
|
|
|
|
Wed |
20/5 |
ZOOM |
13-17 |
Per Nyqvist |
Lab Session: PathPlanner Priority Group 13-15 |
|
|
|
|
W22 |
Mon |
25/5 |
13-14 |
Vegar Kobbevik | Industrial Robots for Offshore Industry building ships and bridges |
|
|
|
|
|
|
Mon |
25/5 |
14-16 |
Henrik Kihlman |
Robot Theory |
|
|
|
|
|
|
Tue |
26/5 |
13-15 |
Henrik Kihlman |
Repetition Summary |
|
L1-L9 |
|
|
|
|
Tue |
26/5 |
|
|
|
|
|
|
|
|
|
Wed |
27/5 |
|
13-17 |
|
Lab Session: Reserve
|
|
|
|
|
|
Thu |
28/5 |
13-15 |
Per Nyqvist |
Kinematic Training |
|
L5, L11 |
|
|
|
|
Thu |
28/5 |
|
15-17 |
|
|
|
L5, L11 |
|
|
|
Fri |
29/5 |
|
13-17 |
|
Lab Session: Reserve |
|
|
|
|
|
Mon |
1/6 |
Exam |
08-12:30 |
|
|
|
|
|
Course summary:
| Date | Details | Due |
|---|---|---|