5 ECTS credits
140 u studietijd
Aanbieding 1 met studiegidsnummer 4016305FNR voor alle studenten in het 2e semester met een gespecialiseerd master niveau.
The course covers the kinematics, dynamics and control of serial robots.
Detailed contents of the theoretical part:
1. General introduction
(a) Industrial robots
(b) Service robots
(c) Overview of the course
2. Kinematics
(a) Direct kinematics
i. Introduction
ii. Position and orientation of rigid bodies
iii. Homogeneous transformation
iv. Denavit-Hartenberg convention
v. Forward kinematics of serial robots
(b) Inverse kinematics
i. Introduction
ii. Kinematic decoupling
3. Differential kinematics
(a) Introduction
(b) Skew symmetric matrices
i. Time derivative of a rotation matrix
(c) Geometric Jacobian
(d) Transformation of the Jacobian
(e) Analytical Jacobian
(f) Kinematic singularities
(g) Statics
(h) Redundancy
(i) Inverse differential kinematics
(j) Inverse kinematics algorithms
4. Trajectory generation
5. Dynamics
(a) Introduction
(b) Review of the Lagrange equations
(c) Kinetic and Potential Energy of serial robots
(d) Equations of motion
(e) Properties of the dynamic equations
(f) Influence of transmissions
6. Control
(a) Motion control
i. Independent joint control
ii.inverse dynamics control
(b) Impedance control
7. Redundancy
(a) Introduction
(b) Inverse differential kinematics
(c) Inverse kinematics algorithms
(d) Dynamic redundancy resolution
The practical part of the course will cover two main subjects:
1. Exercises (both written and on pc) on selected topics covered in the theory (mainly kinematics).
2. A project, to be done in small groups, related to the course. Project contents can vary, but is mostly related to robot control.
Slides used during the course will be provided on the Canvas e-learning platform.
Most material in the slides can also be found in one or both of the recommended textbooks. The textbooks provide more in-depth coverage of the material for students who are interested.
Having in-depth kowledge and understanding of exact sciences with the specificity of their application to engineering.
Students will acquire in-depth knowledge understanding about the kinematics, dynamics and control of serial robots.
Having the flexibility and adaptability to work in an international and/or intercultural context.
The students do their project in groups which are generally (as much as possible) composed of students of different nationalities and cultural backgrounds.
Having in-depth knowledge and understanding of the advanced methods and theories to schematize and model complex problems or processes
Students will learn how to use robot simulation software to evaluate the performance and behavior of robot control programs they write during the project.
Having an in depth scientific knowledge, understanding and skills in at least one of the subfields needed to design, produce, apply and maintain complex mechanical, electrical and/or energy systems.
The students will acquire knowledge and skills related to the mechanics and control of serial robots, which are important for the design and application of such systems.
Can reformulate complex engineering problems in order to solve them (simplifying assumptions, reducing complexity).
This competence is acquired both in the theoretical classes, where much focus is placed on which assumptions are made and why, and in the project.
Can correctly report on research or design results in the form of a technical report or in the form of a scientific paper.
The students make a report about their group project.
Can present and defend results in a scientifically sound way, using contemporary communication tools, for a national as well as for an international professional or lay audience.
The students do a presentation about their group project to the teaching team and the other students. After the presentation they have to answer questions.
Can collaborate in a (multidisciplinary) team.
The students do the project in small groups, and hence have to collaborate as a team.
Can develop, plan, execute and manage engineering projects at the level of a starting professional.
The student is responsible for the completion of the project and therefore has to develop, plan, execute and manage the project within the allocated resources and time.
Having a critical attitude towards one's own results and those of others.
In the group project, all students are responsible for the outcome of their project. Obtaining a good result requires them to be critical towards the results of their peers.
De beoordeling bestaat uit volgende opdrachtcategorieën:
Examen Mondeling bepaalt 70% van het eindcijfer
WPO Praktijkopdracht bepaalt 30% van het eindcijfer
Binnen de categorie Examen Mondeling dient men volgende opdrachten af te werken:
Binnen de categorie WPO Praktijkopdracht dient men volgende opdrachten af te werken:
First exam session:
* Oral examination (with written preparation, without use of the course notes): 70% of the grade.
During the oral examination students will be questioned about the contents of the slides and about what was said in class. There will be no questions about subjects covered in the textbooks but not covered in class or in the slides.
* Project: 30% of the grade.
Second exam session: idem.
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Eerste examensessie:
* Mondeling examen (met schriftelijke voorbereiding, zonder gebruik van cursusnota's): 70% van de punten.
Tijdens het mondeling examen worden de studenten ondervraagd over de inhoud van de slides en over hetgeen uiteengezet werd tijdens de lessen. Er worden geen vragen gesteld over onderwerpen die in de referentiewerken behandeld worden maar die niet aan bod zijn gekomen tijdens de lessen of in de slides.
* Project: 30% van de punten.
Tweede examensessie: idem.
Deze aanbieding maakt deel uit van de volgende studieplannen:
Master in de ingenieurswetenschappen: werktuigkunde-elektrotechniek: werktuigbouwkunde
Master of Electromechanical Engineering: Robotics and Mechanical Construction (enkel aangeboden in het Engels)