Course detail

Modeling and Simulations II

FSI-RKDAcad. year: 2023/2024

The course deals with the kinematics and dynamics modeling of controlled mechatronic systems. Previous knowledge of mechanics is developed, mainly with a focus on numerical solutions to problems on computers. Mechanisms are considered rigid multi-body systems. Exercises run on computers using Matlab. The forward and inverse kinematic model is solved using analytical and numerical methods. Numerical methods are also studied from a general point of view, as a tool for solving sets of nonlinear equations and optimization tasks. The dynamic model is built using Newton's method, Lagrange equations, and automatically (Matlab/SimMechanics). Modeling of electrical and regulation structures such as submodels of complex models are also discussed.

Language of instruction

Czech

Number of ECTS credits

5

Mode of study

Not applicable.

Guarantor

doc. Ing. Robert Grepl, Ph.D.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics (ÚMTMB)

Entry knowledge

Vector algebra. Matrix algebra. Basics of kinematics and dynamics. Newton method, Lagrange equations. Basic of programming.

Rules for evaluation and completion of the course

The evaluation is based on the standard point system 0-100b. The students can get up to 30 points for the individual semestral project and its presentation and up to 70 points for the final test. The final test consists of a theoretical test, assignments in Matlab/Simulink, and a discussion. In all cases, especially the fulfillment of functional requirements and the quality of the realization are the evaluation criteria.


Attendance at practical training is obligatory. Attendance at exercises is checked.

Aims

Students are acquainted with modern approaches to solution of kinematic and dynamic problems. The aim of the course is the control of real machines and their simulationg models. The emphasis is given on using of computers. Theoretical information is applied on particular problem solutions in the scope of semestral project.
After the course graduation, students will be able to:
- build and solve forward and inverse kinematic model of arbitrary kinematic chain with open topology
- consider the suitability of a particular method in kinematics
- build and solve analytical dynamic models of simple mechanical systems
- be well informed about numerical modelling of complex mechatronics systems

Study aids

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Spong, M. W.; Hutchinson, S. & Vidyasagar, M. Robot Modeling and Control Wiley, 2005
Sciavicco, L.; Siciliano, B. & Sciavicco, B. Modelling and Control of Robot Manipulators Springer-Verlag New York, Inc., 2000
Murray, R. M.; Sastry, S. S. & Zexiang, L. A Mathematical Introduction to Robotic Manipulation CRC Press, Inc., 1994
Corke,P.I.: A Robotics Toolbox for Matlab, IEEE Robotics and Automation Magazine, pp.24–32, 1996

Recommended reading

Grepl, R. Kinematika a dynamika mechatronických systémů CERM, Akademické nakladatelství, 2007
Grepl, R. Modelování mechatronických systémů v Matlab/SimMechanics BEN - technická literatura, 2007
Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995
Kratochvíl, C., Slavík, J.: Mechanika těles-dynamika, PC-DIR, skriptum VUT Brno, 1997

eLearning

eLearning: currently opened course

Classification of course in study plans

  • Programme N-MET-P Master's, 1. year of study, winter semester, compulsory

Type of course unit

 

Lecture

26 hours, optionally

Teacher / Lecturer

Ing. Michal Bastl, Ph.D.
doc. Ing. Robert Grepl, Ph.D.
Ing. Jan Najman, Ph.D.

Syllabus

1. Introduction to kinematics of rigid bodies, forward kinematics
2. Spatial representation of the body in space, their transformation, inverse kinematics - analytical methods
3. Inverse kinematics - numerical methods
4. Optimisation methods - gradient descent
5. Quaternions
6. Trajectory planning
7. D-H parameters
8. Introduction to dynamics of rigid bodies, forward and inverse task
9. Modelling in Matlab/Simulink Multibody
10. Kinematics of wheeled vehicles
11. Linearisation
12. Term project consultations
13. Reserve

Computer-assisted exercise

26 hours, compulsory

Teacher / Lecturer

Ing. Michal Bastl, Ph.D.
Ing. Martin Formánek
doc. Ing. Robert Grepl, Ph.D.
Ing. Jan Najman, Ph.D.
Ing. Filip Radil

Syllabus

1. Forward kinematics of RR manipulator
2. Rotations and transforms
3. Inverse kinematics (analytical and numerical methods)
4. Optimisation tasks
5. Solving sets of nonlinear equations
6. Trajectory planning
7. Robotic toolbox
8. Lagrange equations
9. Basic kinematics and dynamics in Matlab/Simulink Multibody
10. State-space model and discretization
11-12. Work on term project
13. Evaluation

eLearning

eLearning: currently opened course