Course Catalog 2009-2010 |
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TTE-5306 Control in Robotics and Automation: Advanced Course, 5 cr |
Lastra Jose Martinez
No implementations
Completing final examination and all course assignments.
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To provide students with deep knowledge on advanced topics in factory automation and robotics for elaborating solutions to complex applications.
| 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. |
The grade will be calculated as: 30% final examination, and 70% course assignments.
Numerical evaluation scale (1-5) will be used on the course
| 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 |
| Course | Mandatory/Advisable | Description |
| TTE-5036 Control in Robotics and Automation | Mandatory |
| Course | Corresponds course | Description |
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