Course Catalog 2008-2009
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Basic Pori International Postgraduate Open University

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Course Catalog 2008-2009

TTE-5306 Control in Robotics and Automation: Advanced Course, 5 cr

CourseĀ“s person responsible

Jose Martinez Lastra

Implementations

No implementations

Requirements

Completing final examination and all course assignments.

Principles and baselines related to teaching and learning

-

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.     


Evaluation criteria for the course

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

Assessment scale:

Numerical evaluation scale (1-5) will be used on the course

Study material

Type Name Author ISBN URL Edition, availability, ... Examination material Language
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          English  
Book   Modelling and Control of Robot Manipulators   L Sciavicco and B Sciciliano   1-85233-221-2     2nd Edition      English  


Prerequisites

Course O/R
TTE-5036 Control in Robotics and Automation Obligatory  

Prerequisite relations (Requires logging in to POP)

Correspondence of content

Course Corresponds course  Description 
TTE-5306 Control in Robotics and Automation: Advanced Course, 5 cr 2702630 Control in Robotics and Automation: Advanced Course, 3 cu  

Last modified12.03.2009
ModifierIlpo Karjalainen