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Course Catalog 2012-2013
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 |
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Requirements
Complete final examination and all assignments.
Principles and baselines related to teaching and learning
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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
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More precise information per implementation
| Implementation | Description | Methods of instruction | Implementation |