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.

2022W, VU, 4.0h, 5.0EC
TUWEL

Course evaluation

Properties

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

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 industrial 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 industrial 6-axis robot, comparison of fundamental control concepts

Teaching methods

Lecture (attendance in the lecture hall), lab course (attendance in the laboratory), 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 presentation of this course takes place on October 10th, 2022 at 10:00 am in the EI 2 Pichelmayer HS.
  • 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 held with attendance in the lecture hall.
  • 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.
  • The TUWEL course is the basis lab courses. All necessary information and the group assignments will be provided there. 

Lecturers

Institute

Course dates

DayTimeDateLocationDescription
Mon10:00 - 11:0010.10.2022EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, Vorbesprechung
Thu08:00 - 10:0015.12.2022 - 26.01.2023EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu08:00 - 10:0026.01.2023EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik Vorbesprechung zum Übungsteil im SS
Thu08:00 - 17:0009.03.2023Computerlabor E376, CA0426 Übung 1
Thu08:00 - 17:0023.03.2023Computerlabor E376, CA0426 Übung 2
Thu08:00 - 17:0020.04.2023Computerlabor E376, CA0426 Übung 3
Thu08:00 - 17:0004.05.2023Computerlabor E376, CA0426 Übung 4
Selected Topics - Automation and Control - Single appointments
DayDateTimeLocationDescription
Mon10.10.202210:00 - 11:00EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, Vorbesprechung
Thu15.12.202208:00 - 10:00EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu22.12.202208:00 - 10:00EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu12.01.202308:00 - 10:00EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu19.01.202308:00 - 10:00EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu26.01.202308:00 - 10:00EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu26.01.202308:00 - 10:00EI 2 Pichelmayer HS - ETIT E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik Vorbesprechung zum Übungsteil im SS
Thu09.03.202308:00 - 17:00Computerlabor E376, CA0426 Übung 1
Thu23.03.202308:00 - 17:00Computerlabor E376, CA0426 Übung 2
Thu20.04.202308:00 - 17:00Computerlabor E376, CA0426 Übung 3
Thu04.05.202308:00 - 17:00Computerlabor E376, CA0426 Übung 4

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
03.10.2022 00:00 26.12.2022 00:00 26.12.2022 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
Abgemeldete26.01.2023 12:0015.03.2023 23:59
Donnerstagnachmittag Gruppe 126.01.2023 10:3023.02.2023 22:00
Donnerstagnachmittag Gruppe 226.01.2023 10:3023.02.2023 22:00
Donnerstagnachmittag Gruppe 326.01.2023 10:3023.02.2023 22:00
Donnerstagnachmittag Gruppe 426.01.2023 10:3023.02.2023 22:00
Donnerstagnachmittag Gruppe 526.01.2023 10:3023.02.2023 22:00
Donnerstagnachmittag Gruppe 626.01.2023 10:3023.02.2023 22:00
Donnerstagnachmittag Gruppe 726.01.2023 10:3023.02.2023 22:00
Donnerstagnachmittag Gruppe 826.01.2023 10:3023.02.2023 22:00
Donnerstagnachmittag Gruppe 926.01.2023 10:3023.02.2023 22:00
Donnerstagvormittag Gruppe 126.01.2023 10:3023.02.2023 22:00
Donnerstagvormittag Gruppe 226.01.2023 10:3023.02.2023 22:00
Donnerstagvormittag Gruppe 326.01.2023 10:3023.02.2023 22:00
Donnerstagvormittag Gruppe 426.01.2023 10:3023.02.2023 22:00
Donnerstagvormittag Gruppe 526.01.2023 10:3023.02.2023 22:00
Donnerstagvormittag Gruppe 626.01.2023 10:3023.02.2023 22:00
Donnerstagvormittag Gruppe 726.01.2023 10:3023.02.2023 22:00
Donnerstagvormittag Gruppe 826.01.2023 10:3023.02.2023 22:00

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