Spring 2018 Semester
Course Instructors Dr. Almas Shintemirov, Dr. Michele Folgheraiter
Teaching Assistants Mr. Tasbolat Taunyazov, Mr. Shyngys Salakchinov
Class Times: Mondays, Wednesdays, Fridays 2.00 am – 2.50 pm
Prerequisities
- ROBT 206 Microcontrollers w/Lab
- ROBT 303 Linear Control Theory w/Lab
Course Overview
This course brings together aspects of design in mechanical, control and electrical/electronic systems so that students will have a good idea of the range of advanced techniques available in designing robotic and mechatronic systems integrating methods and skills acquired in previous courses. They will learn the basic methods to control manipulators in the joint and Cartesian space by synthesizing smooth trajectories. The last part of this course focuses on calculation and designing a mechatronic module (servo drive) for a range of industrial mechanisms using commercially available electromechanical components from leading manufacturers. After completing this course, students will be able to:
- Formalize the control system architecture for a robot-manipulator.
- Generate trajectories for robot-manipulators
- Analyze and design a kinematic/mechanical architecture of a robotic/mechatronic system
- Design a control system for a robot-manipulator
- Design mechatronic modules for industrial mechanisms
Course Textbooks
Introduction to Robotics: Mechanics and Control by John J. Craig, 3rd Edition
Electrical Drives: Principles, Planning, Applications, Solutions by Jens Weidauer, Richard Messer, 2014
Reference Textbooks
R. Kelly, V. Santibanez and A. Loria, Control of Robot Manipulators in Joint Space, Springer, 2005
P. Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Springer, 2011
Course Topics
– Robot Dynamics;
– Robot-Manipulator Mechanism Design;
– Linear Control of Robot-Manipulators in Joint and Cartesian Space;
– Nonlinear Control of Robot-Manipulators in Joint and Cartesian Space;
– Introduction to DC and AC Servo (Electric) Drives
– Cascaded Control of Industrial Motion Systems
– Servodrive Planning
