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
Number of ECTS credits
Mode of study
Guarantor
Entry knowledge
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
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
Prerequisites and corequisites
Basic literature
Murray, R. M.; Sastry, S. S. & Zexiang, L. A Mathematical Introduction to Robotic Manipulation CRC Press, Inc., 1994
Sciavicco, L.; Siciliano, B. & Sciavicco, B. Modelling and Control of Robot Manipulators Springer-Verlag New York, Inc., 2000
Spong, M. W.; Hutchinson, S. & Vidyasagar, M. Robot Modeling and Control Wiley, 2005
Recommended reading
Grepl, R. Modelování mechatronických systémů v Matlab/SimMechanics BEN - technická literatura, 2007
Kratochvíl, C., Slavík, J.: Mechanika těles-dynamika, PC-DIR, skriptum VUT Brno, 1997
Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995
Elearning
Classification of course in study plans
- Programme N-MET-P Master's 1 year of study, winter semester, compulsory
Type of course unit
Lecture
Teacher / Lecturer
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
Teacher / Lecturer
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