Course Catalog 2011-2012
Basic

Basic Pori International Postgraduate Open University

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Course Catalog 2011-2012

TTE-5036 Control in Robotics and Automation, 6 cr

Person responsible

Lastra Jose Martinez, Andrei Lobov

Lessons

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


 


 
 4 h/week
 20 h/per
+4 h/week
+56 h/per


 
TTE-5036 2011-01 Friday 8 - 10, S3
Tuesday 8 - 10, S3

Requirements

Complete final examination and all 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. To be able to integrate different components of the production line.

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. SCADA systems. Industrial Communication Networks. Sensor/Actuator/Device networks. Ethernet-based Automation Networks. Motion Control Networks.     

Evaluation criteria for the course

Course grading will be based on: 35% final examination, and 65% on the 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   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  

Prerequisite relations (Requires logging in to POP)



Correspondence of content

Course Corresponds course  Description 
TTE-5036 Control in Robotics and Automation, 6 cr 2702610 Control in Robotics and Automation in Electronics Production, 4 cu  

More precise information per implementation

Implementation Description Methods of instruction Implementation
TTE-5036 2011-01        

Last modified18.03.2011