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Course Catalog 2011-2012
TTE-5306 Control in Robotics and Automation: Advanced Course, 5 cr |
Additional information
Suitable for postgraduate studies
Person responsible
Lastra Jose Martinez, Andrei Lobov
Lessons
| Study type | P1 | P2 | P3 | P4 | Summer | Implementations | Lecture times and places |
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Requirements
Completing final examination and all course assignments.
Principles and baselines related to teaching and learning
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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
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More precise information per implementation
| Implementation | Description | Methods of instruction | Implementation |