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Syllabus for

Academic year
SSY156 - Modelling and control of mechatronic systems
Modellering och styrning av mekatroniska system
 
Syllabus adopted 2020-02-04 by Head of Programme (or corresponding)
Owner: MPSYS
7,5 Credits
Grading: TH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail
Education cycle: Second-cycle
Major subject: Automation and Mechatronics Engineering, Electrical Engineering
Department: 32 - ELECTRICAL ENGINEERING


Teaching language: English
Application code: 35120
Open for exchange students: No
Block schedule: A

Module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0115 Design exercise + laboratory 7,5c Grading: TH   7,5c    

In programs

MPEPO ELECTRIC POWER ENGINEERING, MSC PROGR, Year 1 (elective)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 1 (compulsory elective)

Examiner:

Yiannis Karayiannidis

  Go to Course Homepage


Eligibility

General entry requirements for Master's level (second cycle)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Specific entry requirements

English 6 (or by other approved means with the equivalent proficiency level)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Course specific prerequisites

Modelling and simulation (ESS101) and Linear control system design (SSY285).

Aim

The course goal is to give a theoretical framework for modeling and controlling the motion of mechatronic systems and their interaction with the environment. The course focus on robotic manipulators (arms) that performs tasks with their end-effectors.

Learning outcomes (after completion of the course the student should be able to)

  • formulate kinematic models describing the position and orientation of complex multi-body systems within the operational space
  • derive differential kinematic models and use them in order to solve kinematic control problems for multi-body systems.
  • understand and apply the Euler-Lagrange method to multi-body systems to derive mathematical models describing their motion and understanding the properties of the derived models
  • understand basic linear control design concepts and how to apply them to achieve decentralized motion control of multi-body mechatronic systems.
  • apply model-based motion control frameworks to control the motion of multi-body systems and their interaction with the environment

Content

  • Mathematical modeling of multi-body systems
  • Kinematics
  • Differential Kinematics
  • Dynamics of multi-body systems: the Euler-Lagrange method
  • Motion control multi-body systems
  • Inverse dynamics control
  • Decentralized control
  • Interaction control with the environment. Force control, Impedance control, Compliance control

Organisation

The course consists of lectures, problem solving and lab supervision sessions and a number of compulsory lab/exercise assignments.

Literature

B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control. London: Springer-Verlag, 2009. (freely available through the Chalmers online library), Main course textbook 

Examination including compulsory elements

Examination is based on
  • compulsory, individual lab assignments
  • compulsory exercise solving homeworks 
  • optional test


Published: Mon 28 Nov 2016.