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

Person responsible

Lastra Jose Martinez

Implementations

	Lecture times and places	Target group recommended to
Implementation 1	Periods 4 4 - 5

Requirements

Completing final examination and all course assignments.

Principles and baselines related to teaching and learning

-

Learning outcomes

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

Correspondence of content

More precise information per implementation

	Description	Methods of instruction	Implementation
Implementation 1

Last modified	07.04.2010
Modifier	Andrei Lobov