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TTE-5306 CONTROL IN ROBOTICS AND AUTOMATION: ADVANCED COURSE, 5 cr
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Person responsible
Dr. Jose L. Martinez Lastra
Lecturers
Dr. Jose L. Martinez Lastra
jose.lastra@tut.fi
Implementation rounds
Implementation 1
| Period 1 | Period 2 | Period 3 | Period 4 | Period 5 | Summer | Language of instruction | |
| Lecture | - | - | - | 2 h/week+ | 2 h/week | - | In English only |
| Assignment | - | - | - | 40 h/per+ | 40 h/per | - | - |
| Exam | 0 | ||||||
Objectives
To provide students with deep knowledge on advanced topics in factory automation and robotics for elaborating solutions to complex applications.
Contents
| 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. |
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| 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. |
Requirements for completing the course
Completing final examination and all course assignments.
Assessment criteria
The grade will be calculated as: 30% final examination, and 70% course assignments.
Study material
| Type | Name | Author | ISBN | URL, edition, availablitity... | Exam material | Language |
| Book | Modelling and Control of Robot Manipulators | L Sciavicco and B Sciciliano | 1-85233-221-2 | 2nd Edition | No | English |
| 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 | No | English | |
| Book | Software Engineering for Distributed Industrial Automation and Control | JH Christensen, JL Martinez Lastra, A Valentini and VV Vyatkin | No | English |
Prerequisites
| Number | Name | Credits | M/R |
| TTE-5036 | Control in Robotics and Automation | 6 | Mandatory |
Correspondence of content
2702630 Control in Robotics and Automation: Advanced Course
| Last modified | 25.08.2005 |
| Modified by | Jorma Vihinen |