Modelling and Control of Robot Manipulator

2018/2019

Prerequisite/Recommended prerequisite for participation in the module

The module is based on knowledge achieved in the modules Fundamental energy system physics and topology, Modelling and simulation, Mechanics, and Modern digital control or similar.

Content, progress and pedagogy of the module

Learning objectives

Knowledge

  • Have knowledge about the fundamentals of the different robotic systems
  • Be able to develop models of robotic systems including actuators and sensors
  • Be able to design controllers for considered robots in the presence of uncertain and possibly varying system parameters
  • Have knowledge on centralized and distributed control of robot manipulators

Skills

  • Be able to analyse system dynamics as basis for controller dimensioning
  • Be able to apply the obtained models for linear and non-linear observer designs
  • Be able to design both motion and force controllers for robotic systems
  • Be able to perform trajectory planning and apply path-following control algorithms

Competences

  • Independently identify and analyse robotic systems
  • Independently be able to design and apply modelling and control techniques for the robotic automation systems
  • Have a fundamental understanding of typical actuators and measurements on the considered systems

Type of instruction

The programme is based on a combination of academic, problem oriented and interdisciplinary approaches and organised based on the following types of instruction that combine skills and reflection:

  • Lectures
  • Class teaching
  • Project work
  • Work shops
  • Exercises (individually and in groups)
  • Supervisor feedback
  • Professional reflection
  • Portfolio work
  • Laboratory work

Extent and expected workload

Since it is a 5 ECTS project module, the work load is expected to be 150 hours for the student

Exam

Exams

Name of examModelling and Control of Robot Manipulator
Type of exam
Written or oral exam
ECTS5
Assessment7-point grading scale
Type of gradingExternal examination
Criteria of assessmentAs stated in the Joint Programme Regulations.
http:/​/​www.engineering.aau.dk/​uddannelse/​studieadministration/​

Facts about the module

Danish titleModellering og regulering af robotter
Module codeN-AIE-B6-3
Module typeCourse
Duration1 semester
SemesterSpring
ECTS5
Language of instructionEnglish
Empty-place SchemeYes
Location of the lectureCampus Esbjerg
Responsible for the module

Organisation

Study BoardStudy Board of Energy
FacultyFaculty of Engineering and Science