Course Catalog 2006-2007

TTE-5306 CONTROL IN ROBOTICS AND AUTOMATION: ADVANCED COURSE, 5 cr
Control in Robotics and Automation: Advanced Course

Courses persons responsible
Jose Martinez Lastra

Lecturers
Jose Martinez Lastra

Lecturetimes and places
Per IV,V: Friday 13 - 15, K3114
Per V: Tuesday 9 - 11, K3114

Implementations
  Period 1 Period 2 Period 3 Period 4 Period 5 Summer
Lecture - - - 2 h/week 2 h/week -
Assignment - - - 40 h/per 40 h/per -
Exam  
(Timetable for academic year 2006-2007)

Objectives
To provide students with deep knowledge on advanced topics in factory automation and robotics for elaborating solutions to complex applications.

Content
Content Core content Complementary knowledge Specialist knowledge
1. Programming of distributed factory automation systems. IEC 61499 standard.       
2. Object-oriented engineering methodologies in factory automation.       
3. Multi-agent systems for manufacturing control.       
4. Advanced Motion Control of Robot Manipulators.
Centralized control: PD control with g compensation, inverse dynamics control, robust control, and adaptive control.
Operational space control. 		      
5. Interaction Control of Robot Manipulators.
Compliance control. Impedance control. Force control: w/inner position loop, w/inner velocity loop, parallel force/position control.
Hybrid force/position control. 		      

Requirements for completing the course
Completing final examination and all course assignments.

Evaluation criteria for the course

  • The grade will be calculated as: 30% final examination, and 70% course assignments.

  • Used assessment scale is numeric (1-5)

    • Study material
    Type Name Auhor ISBN URL Edition, availability... Exam material Language
    Book Modelling and Control of Robot Manipulators L Sciavicco and B Sciciliano 1-85233-221-2   2nd Edition No  English 
    Book Control Software for Mechanical Systems: Object-oriented Design in a Real-time World DM Auslander, JR Ridgely and JD Ringgenberg 0-13-786302-0     No  English 

    Prerequisites
    Code Course Credits M/R
    TTE-5036 TTE-5036 Control in Robotics and Automation 6 Mandatory

    Prequisite relations (Sign up to TUT Intranet required)

    Remarks

  • The course is suitable for postgraduate studies.

    • 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 48
    Assignments 80
    Total sum 128

    Correspondence of content
    2702630 Control in Robotics and Automation: Advanced Course

    Course homepage

    Last modified 28.08.2006
    Modified byJorma Vihinen