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TTE-5036 CONTROL IN ROBOTICS AND AUTOMATION, 6 cr
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Person responsible
Dr. Jose L. Martinez Lastra
Lecturers
Dr. Jose L. Martinez Lastra, jose.lastra@tut.fi, K3224-B
Lecture room and time
Per III,IV,V: Monday 10 - 12, K3114
Implementation rounds
Implementation 1
| Period 1 | Period 2 | Period 3 | Period 4 | Period 5 | Summer | Language of instruction | |
| Lecture | - | - | 2 h/week+ | 3 h/week+ | 3 h/week | - | In English only |
| Assignment | - | - | 5 h/per+ | 5 h/per+ | 5 h/per | - | In English only |
| Exam | In English only | ||||||
Objectives
To learn how to model and control the kinematics of robot manipulators, as well as the modelling and control of the dynamics of robot manipulators. To understand the structure and components of Programmable Automation Controllers (PAC), to learn how to select and configure those components, and to program the controllers. To understand the topologies and protocols involved in industrial networks, and to be able to deploy multiple PACs in a networked factory automation system.
Contents
| Content | Core content | Complementary knowledge | Specialist knowledge |
| 1. | Forward and Inverse Kinematics: Spatial Descriptions and Transformation.
Robot Dynamics: Lagrange Formulation and Newton-Euler Formulation |
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| 2. | Control of Robot Manipulators: Trajectory Planning and Motion Control.
Trajectory Planning in the Joint Space and in the Operational Space: Point-to-Point Motion and Path Motion. Independent Joint Motion Control using Feedback Control and Decentralized Feedforward compensation. Computed Torque Feedforward Motion Control. |
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| 3. | Programmable Automation Controllers.
PACs I/O: Digital and Analog. PAC Programming: IEC-61131, Visual Flowcharts PAC Motion control modules: Feedback Motion Control, Closed-loop Applications. PAC Safety Regulations. PAC Embedded Industrial Applications |
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| 4. | Industrial Communication Networks.
Sensor/Actuator/Device networks. Ethernet-based Automation Networks. Motion Control Networks: SERCOS, FireWire. |
Requirements for completing the course
Complete final examination and all five assignments.
Assessment criteria
Course grading will be based on: 40% final examination, and 60% on the five assignments (in groups of 2 students).
Study material
| Type | Name | Author | ISBN | URL, edition, availablitity... | Exam material | Language |
| Book | Modeling and Control of Robotic Manipulators | L Sciavicco and B Scicilano | 1-85233-221-2 | 2nd Edition | No | English |
| Book | Introduction to robotics . Mechanics and Control | JJ Craig | 0-201-09528-9 | 2nd Edition | No | English |
| Book | Programming industrial control systems using IEC 1131-3 | RW Lewis | 0-85296-950-3 | Revised Edition | No | English |
| Lecture slides | Lecture Slides | JLM Lastra | Course Web Page | No | English |
Prerequisites
| Number | Name | Credits | M/R |
| TTE-5016 | Introduction to Robotics and Automation | 5 | Mandatory |
Additional information related to prequisites
Students must show basic knowledge on Linear Algebra, on Rigid Body Mechanics (Kinematics, Dynamics, etc), and on Control Theory (SISO Linear Systems).
Correspondence of content
2702610 Control in Robotics and Automation in Electronics Production
| Last modified | 25.08.2005 |
| Modified by | Jorma Vihinen |