376.042 Selected Topics - Automation and Control
This course is in all assigned curricula part of the STEOP.
This course is in at least 1 assigned curriculum part of the STEOP.

2021W, VU, 4.0h, 5.0EC
TUWEL

Properties

  • Semester hours: 4.0
  • Credits: 5.0
  • Type: VU Lecture and Exercise
  • Format: Hybrid

Learning outcomes

After successful completion of the course, students are able to

  • describe and classify robotic systems and general rigid-body systems,
  • model and simulate the kinematics and dynamics of rigid-body systems,
  • perform simple trajectory planning for a robot in joint space and task space,
  • apply fundamental control concepts for robots,
  • utilize modern computer algebra (Maple) and numeric (MATLAB/Simulink) software to model, simulate and analyze dynamical systems, and
  • apply linear control design methods (loop-shaping, pole placement) to such systems.

Subject of course

Lecture in winter term:

  • Fundamentals of robotics: Degrees of freedom, kinematic spaces, control structures
  • Robot kinematics: Forward and inverse kinematics, forward and inverse differential kinematics, manipulator Jacobian, kinematic and representation singularities
  • Trajectory planning: Paths and trajectories, straight paths, time parametrization, trajectories with via points
  • Robot control: fundamental control concepts for robots in joint space and task space, control of kinematically redundant robots

Lab exercises in summer term:

  • System analysis using Maple: Introduction to the computer algebra software Maple, mathematical modelling of rigid-body and nonlinear systems
  • System analysis using MATLAB/Simulink: Introduction to MATLAB/Simulink, simulation of rigid-body systems, application of the methods from the lecture Automation to specific simulation examples as well as laboratory experiments
  • Modelling and simulation of a robot: Application of the theory for robot kinematics and dynamics to a 3-axis robot, analysis of singularities
  • Control of a robot: Application of the theory for robot control to a kinematically redundant 7-axis robot, comparison of fundamental control concepts

Teaching methods

Lecture (online, in Zoom meetings), lab course (attendance in the laboratory or online), preparation of problems prior to the lab courses, independent solution of advanced examples during the lab course, implementation of the designed controllers and observers on lab experiments, discussion of the theoretic foundation during the lab course

Mode of examination

Immanent

Additional information

  • The TUWEL course is the basis of the distance learning. All necessary information, group assignments and Zoom meetings will be provided there. 
  • The presentation of this course takes place on October 4th, 2021 at 01:00pm in a Zoom meeting.
  • In the winter term, a lecture (2 hours) in Selected Topics - Automation and Control is given. The lecture starts approximately at midterm, see section "course dates", and will an online lecture in Zoom.
  • In the subsequent summer term, the theoretical knowledge in the field of modeling, simulation, identification, controller and observer design obtained from the lectures Automation, Mathematical Modelling and Selected Topics - Automation and Control will be applied to specific laboratory experiments. For this, also an introduction to the standard software tools of automatic control (MATLAB/Simulink, Maple) will be given. General information regarding the course will be provided in the last lecture in the winter term. Moreover, groups will be formed in this lecture. The dates and the format (laboratory or online) will be announced as early as possible.

Lecturers

Institute

Course dates

DayTimeDateLocationDescription
Mon13:00 - 15:0004.10.2021 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, Vorbesprechung
Thu13:00 - 15:0014.10.2021 Online (LIVE)E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, Vorbesprechung (Wiederholung)
Thu08:00 - 10:0002.12.2021 - 27.01.2022 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu08:30 - 10:0027.01.2022 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik Vorbesprechung zum Übungsteil im SS
Selected Topics - Automation and Control - Single appointments
DayDateTimeLocationDescription
Mon04.10.202113:00 - 15:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, Vorbesprechung
Thu14.10.202113:00 - 15:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, Vorbesprechung (Wiederholung)
Thu02.12.202108:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu09.12.202108:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu16.12.202108:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu13.01.202208:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu20.01.202208:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu27.01.202208:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu27.01.202208:30 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik Vorbesprechung zum Übungsteil im SS

Examination modalities

The examination consists of the following points:

  1. review of the prepared exercises and
  2. participation during the course.

Course registration

Begin End Deregistration end
27.09.2021 00:00 20.12.2021 00:00 20.12.2021 00:00

Registration modalities

Registration is required due to organizational purposes. In addition, attendance of the first lecture is compulsory since important issues concerning content and organization will be discussed.

Group Registration

GroupRegistration FromTo
Abgemeldete27.01.2022 12:0016.03.2022 23:59

Curricula

Study CodeSemesterPrecon.Info
033 235 Electrical Engineering and Information Technology
045 006 Digital Skills STEOP
Course requires the completion of the introductory and orientation phase

Literature

Lecture notes for this course and the exercise are available on the website of the institute and in the TUWEL course.

Preceding courses

Accompanying courses

Continuative courses

Miscellaneous

Language

German