[Translation missing: page.coursepage.titleprefix] Modelling and control of mechatronic systems

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[Translation missing: page.coursepage.adopteddate] 2021-02-26 [Translation missing: page.coursepage.adoptedby].

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  • [Translation missing: page.coursepage.namealt]Modellering och styrning av mekatroniska system
  • [Translation missing: page.coursepage.coursecode]SSY156
  • [Translation missing: page.coursepage.credit]7.5 Credits
  • [Translation missing: page.coursepage.owner]MPSYS
  • [Translation missing: page.coursepage.edulevel]Second-cycle
  • [Translation missing: page.coursepage.mainsubjects]Automation and Mechatronics Engineering, Electrical Engineering
  • [Translation missing: page.coursepage.dept]ELECTRICAL ENGINEERING
  • [Translation missing: page.coursepage.grading]TH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail

[Translation missing: page.coursepage.courseround] 1

  • [Translation missing: page.coursepage.teachlang] [Translation missing: general.acronyms.en]
  • [Translation missing: page.coursepage.applcode] 35113
  • [Translation missing: page.coursepage.blockschedule]
  • [Translation missing: page.coursepage.erasmus]No

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0115 Design exercise + laboratory 7.5 c
[Translation missing: page.coursepage.grading]: TH		0 c0 c7.5 c0 c0 c0 c

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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.

[Translation missing: page.coursepage.specentryreq]

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.

[Translation missing: page.coursepage.prerequisites]

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

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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.

[Translation missing: page.coursepage.goal]

  • 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

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  • 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

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

[Translation missing: page.coursepage.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 


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

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[Translation missing: page.coursepage.changes]

  • Changes to course rounds:
    • 2022-11-28: Examinator Examinator changed from Yiannis Karayiannidis (yiannis) to Emmanuel Dean (deane) by Viceprefekt
      [Course round 1]