Course Catalog 2009-2010 Basic Basic Pori International Postgraduate Open University |Degrees|     |Study blocks|     |Courses|

Person responsible

Lastra Jose Martinez, Andrei Lobov

Implementations

	Lecture times and places	Target group recommended to
Implementation 1	Periods 1 1 - 2

Requirements

Complete final examination and all five assignments.

Principles and baselines related to teaching and learning

-

Learning outcomes

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.

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).

Assessment scale:

Evaluation scale passed/failed will be used on the course

Study material

Type	Name	Author	ISBN	URL	Edition, availability, ...	Examination material	Language
Book	Introduction to robotics . Mechanics and Control	JJ Craig	0-201-09528-9		2nd Edition		English
Book	Modeling and Control of Robotic Manipulators	L Sciavicco and B Scicilano	1-85233-221-2		2nd Edition		English
Book	Programming industrial control systems using IEC 1131-3	RW Lewis	0-85296-950-3		Revised Edition		English
Lecture slides	Lecture Slides	JLM Lastra			Course Web Page		English

Prerequisites

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).

Correspondence of content

More precise information per implementation

	Description	Methods of instruction	Implementation
Implementation 1		Lectures Practical works	Contact teaching: 0 % Distance learning: 0 % Self-directed learning: 0 %

Last modified	09.11.2009
Modifier	Andrei Lobov