Course Catalog 2013-2014
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Course Catalog 2013-2014

TTE-53006 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
Lectures
Assignment
 2 h/week
 4 h/week
+2 h/week
+4 h/week


 


 


 
TTE-53006 2013-01 Friday 10 - 12, TC171

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.     

Instructions for students on how to achieve the learning outcomes

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       No    English  
Book   Modelling and Control of Robot Manipulators   L Sciavicco and B Sciciliano   1-85233-221-2     2nd Edition   No    English  

Prerequisite relations (Requires logging in to POP)



Correspondence of content

Course Corresponds course  Description 
TTE-53006 Control in Robotics and Automation: Advanced Course, 5 cr MEI-24046 Distributed Automation Systems Design, 5 cr  
TTE-53006 Control in Robotics and Automation: Advanced Course, 5 cr TTE-5306 Control in Robotics and Automation: Advanced Course, 5 cr  

More precise information per implementation

Implementation Description Methods of instruction Implementation
TTE-53006 2013-01        

Last modified04.03.2013