Course Catalog 2010-2011
Postgraduate

Basic Pori International Postgraduate Open University

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Course Catalog 2010-2011

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

Person responsible

Lastra Jose Martinez, Andrei Lobov

Lessons

Study type P1 P2 P3 P4 Summer Implementations Lecture times and places
Lectures
Assignment


 


 
 2 h/week
 4 h/week
+2 h/week
+4 h/week


 
TTE-5306 2010-01  

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. After this course, student should be able to design and implement robot and/or automation system.

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. 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

Assessment is based on 25% of final examination, and 75% 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  

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  

Additional information

Suitable for postgraduate studies

More precise information per implementation

Implementation Description Methods of instruction Implementation
TTE-5306 2010-01        

Last modified25.02.2010