Course syllabus for Modelling and control of mechatronic systems

Course syllabus adopted 2021-02-26 by Head of Programme (or corresponding).

Overview

  • Swedish nameModellering och styrning av mekatroniska system
  • CodeSSY156
  • Credits7.5 Credits
  • OwnerMPSYS
  • Education cycleSecond-cycle
  • Main field of studyAutomation and Mechatronics Engineering, Electrical Engineering
  • DepartmentELECTRICAL ENGINEERING
  • GradingTH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail

Course round 1

  • Teaching language English
  • Application code 35123
  • Block schedule
  • Open for exchange studentsNo

Credit distribution

0115 Design exercise + laboratory 7.5 c
Grading: TH		 7.5 c

In programmes

Examiner

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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

The course examiner may assess individual students in other ways than what is stated above if there are special reasons for doing so, for example if a student has a decision from Chalmers on educational support due to disability.