Course Catalog 2006-2007

TTE-5036 CONTROL IN ROBOTICS AND AUTOMATION, 6 cr
Control in Robotics and Automation

Courses persons responsible
Jose Martinez Lastra

Lecturers
Jose Martinez Lastra

Lecturetimes and places
Per III,IV,V: Monday 10 - 12, K3114
Per IV,V: Friday 12 - 13, K3114

Implementations
  Period 1 Period 2 Period 3 Period 4 Period 5 Summer
Lecture - - 2 h/week 3 h/week 3 h/week -
Assignment - - 5 h/week 5 h/week 5 h/week -
Exam  
(Timetable for academic year 2006-2007)

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.

Content
Content Core content Complementary knowledge Specialist knowledge
1. Forward and Inverse Kinematics: Spatial Descriptions and Transformation.
Robot Dynamics: Lagrange Formulation and Newton-Euler Formulation 		      
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. 		      
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 		      
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.

Evaluation criteria for the course

  • Course grading will be based on: 40% final examination, and 60% on the five assignments (in groups of 2 students).

  • Used assessment scale is numeric (1-5)

    • Study material
    Type Name Auhor ISBN URL Edition, availability... 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
    Code Course Credits M/R
    TTE-5016 TTE-5016 Introduction to Robotics and Automation 5 Mandatory

    Prequisite relations (Sign up to TUT Intranet required)

    Additional information about prerequisites
    Students must show basic knowledge on Linear Algebra, on Rigid Body Mechanics (Kinematics, Dynamics, etc), and on Control Theory (SISO Linear Systems).

    Distance learning

  • Estimate as a percentage of the implementation of the course

    • - Contact teaching: 100 %
    - Distance learning: 0 %
    - Proportion of a student's independent study: 0 %

    Scaling
    Methods of instructionHours
    Lectures 144
    Assignments 15
    Total sum 159

    Principles and starting points related to the instruction and learning of the course

  • Lecturing and course assignments in groups of 2 students.

    • Correspondence of content
    2702610 Control in Robotics and Automation in Electronics Production

    Course homepage

    Last modified 28.08.2006
    Modified byJorma Vihinen