Robotic Systems Control

Course Description

Controlled jerk trajectory planning methods. Linear and nonlinear load torque estimation methods. Control of six-legged walking robots using cyclic GA. Remote robot control systems. Force feedback. Compensation of communication delay influence using wave variables and event triggered control. Creation of operator feeling about presence in the remote workspace. Influence of communication delay on the remote guidance quality. Mathematical models of aerial vehicles: balloon, helicopter, quadrotor. Actuators and sensors of unmanned aerial vehicles (UAV): inertial measurement system. Control of UAV. Motion in formations.

General Competencies

Deeper knowledge about control methods for ground and aerial robot systems. Knowledge about application of new technologies like industrial communications, remote control, virtual reality, sensors fusion, artificial intelligence etc.

Learning Outcomes

  1. design methods for continouos jerk trajectory planning
  2. design various types of load torque observers
  3. analyze walking sequences of six-legged robots
  4. design control algorithm for remote control of robot manipulators
  5. design control algorithm for remote control of mobile robots
  6. design mathematical models of UAVs
  7. design control algorithms for UAVs

Forms of Teaching

Lectures

Organized in three thematic cycles.

Consultations

Upon request.

Seminars

Theoretical knowledge is applied to real robotic systems. •Seminar: Design of load torque observer for a laboratory robot •Seminar: Remote control of a robot via Internet •Seminar: Control of laboratory aerial vehicles

Grading Method

Continuous Assessment Exam
Type Threshold Percent of Grade Threshold Percent of Grade
Seminar/Project 50 % 40 % 50 % 40 %
Mid Term Exam: Written 50 % 20 % 0 %
2. Mid Term Exam: Written 50 % 20 % 0 %
Final Exam: Written 50 % 20 %
Exam: Written 50 % 60 %
Comment:

All seminars are obligatory.

Week by Week Schedule

  1. Controlled jerk trajectory planning methods (Ho-Cook 445 and 555 methods, modified Yakimenko method).
  2. Load torque estimator design. Linear estimation methods: dead-beat estimator, standard pole-placement estimator, process inverse function-based estimator.
  3. Nonlinear estimation methods using neural networks and self-learning fuzzy controllers.
  4. Walking robots. Six-legged walking robots (hexapod). Definition of hexapod walking sequence as optimization problem. Hexapod walking sequence control by using a cyclic genetic algorithm (GA).
  5. Demonstration of hexapod walking control system. First midterm exam
  6. Remote robot control systems (wireless, Internet).
  7. Creation of operator feeling about presence in the remote workspace. Influence of communication delay on the remote guidance quality.
  8. Remote control of manipulators (telemanipulation). Compensation of communication delay influence using wave variables. Robot impedance control.
  9. Remote control of mobile robots (telenavigation). Event based control. Coordinated telemanipulation and telenavigation.
  10. Second midterm exam
  11. Mathematical models of aerial vehicles: balloon, helicopter, quadrotor.
  12. Actuators and sensors of unmanned aerial vehicles (UAV): inertial measurement system.
  13. Control of UAV.
  14. Formation control.
  15. Final exam.

Study Programmes

University graduate
Control Engineering and Automation (profile)
Recommended elective courses (3. semester)

Literature

Zhihua Qu, Darren M. Dawson (1996.), Robust Tracking Control of Robot Manipulators, IEEE Press
Herwig Mayr (2002.), Virtual Automation Environments, Marcel Dekker
R.J. Schilling (1990.), Fundamentals of Robotics - Analysis and Control, Prentice-Hall, Englewood Cliffs, New Jersey

General

ID 34386
  Winter semester
4 ECTS
L1 English Level
L1 e-Learning
30 Lectures
0 Exercises
0 Laboratory exercises
0 Project laboratory

Grading System

89 Excellent
78 Very Good
60 Good
51 Acceptable