Course detail

Modeling and Simulations II

FSI-RKDAcad. year: 2027/2028

814This course covers the modeling of the kinematics and dynamics of controlled mechatronic systems. It builds upon knowledge acquired in previous mechanics studies, focusing specifically on the numerical solution of problems via computer and on simulation modeling. Mechanisms are treated as systems of rigid bodies connected by constraints.

Practical sessions are conducted on computers using the MATLAB software. Both forward and inverse kinematic models are addressed using analytical and numerical methods. Numerical methods are also covered as general tools for solving nonlinear equations and optimization problems. Dynamic models are developed using the free-body approach, Lagrange’s equations, and automated methods (MATLAB/Simulink Multibody). The course also introduces techniques for modeling electrical, control, and other sub-systems, as well as their interaction with the mechanism model.

Language of instruction

Czech

Number of ECTS credits

5

Assignment to study programme types

Master's

Mode of study

Not applicable.

Guarantor

doc. Ing. Robert Grepl, Ph.D.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics (ÚMTMB)

Learning outcomes of the course unit

Not applicable.

Entry knowledge

Vector algebra. Matrix algebra. Fundamentals of kinematics and dynamics. Free-body diagrams and Lagrange’s equations. MATLAB/Simulink programming.

Rules for evaluation and completion of the course

The course concludes with a graded assessment, evaluated according to the standard ECTS scale (0–100 points; a minimum of 50 points is required to pass). During the semester, students will complete an interim test and a graded assessment. The interim test is worth a maximum of 30 points. The graded assessment is worth a maximum of 70 points, consisting of 30 points for theoretical questions and 40 points for practical computer-based tasks, which are similar to the exercises covered in class. The final grade is based on the combined score from both components.

Attendance at the practical sessions is mandatory. Student participation and progress are monitored during these sessions.

Aims

During the course, students will be introduced to modern approaches to solving problems of kinematics and dynamics of mechanisms. The course focuses on the control of real machines and their simulation models, with a key emphasis on the use of computer support. Theoretical knowledge will be applied to solve a specific problem as part of the requirements for a graded credit.

Upon completion of the course, students will be able to:

construct and solve direct (analytical) and inverse (analytical and numerical) kinematic models of any open kinematic chain, assess the suitability of a particular method for kinematics modelling, construct and solve analytical dynamic models of simpler mechanical systems, and orient themselves in the problems of numerical modelling of complex mechatronic systems.

Study aids

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Corke, P. I. A Robotics Toolbox for MATLAB. IEEE Robotics & Automation Magazine. 1996, vol. 3, no. 1, pp. 24–32. https://doi.org/10.1109/100.486658
Murray, R. M.; Li, Z. a Sastry, S. S. A Mathematical Introduction to Robotic Manipulation. Boca Raton: CRC Press, 1994. ISBN 978-0-8493-7981-9
Sciavicco, L. a B. Siciliano. Modelling and Control of Robot Manipulators. 2nd ed. London: Springer, 2000. ISBN 978-1-85233-221-1 
Spong, M. W.; Hutchinson, S. & Vidyasagar, M. Robot Modeling and Control Wiley, 2005

Recommended reading

Grepl, R. Kinematika a dynamika mechatronických systémů. Brno: Akademické nakladatelství CERM, 2007. ISBN 978-80-214-3530-8
Grepl, R. Modelování mechatronických systémů v Matlab SimMechanics. 1. vyd. Praha: BEN – technická literatura, 2007. ISBN 978-80-7300-226-8
Kratochvíl, C. a Slavík, J. Mechanika těles: dynamika. 2., rozšířené vyd. Brno: PC-DIR, 1997. ISBN 80-214-0946-0
Valášek, M. Mechatronika. Praha: Vydavatelství ČVUT, 1995. ISBN 80-01-01276-X

Classification of course in study plans

  • Programme N-MET-P Master's 1 year of study, winter semester, compulsory, fundamental theoretical courses of the profile core

Type of course unit

 

Lecture

26 hours, compulsory

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

  1. Direct and inverse kinematics (fkine, ikine)
  2. Denavit-Hartenberg (DH) parameters
  3. Robotic Toolbox and UR5 robot
  4. Practical task on fkine/ikine
  5. Quaternions
  6. Kinematics and dynamics of wheeled vehicles
  7. Dynamics and kinematics of mechanisms (repeat of LR2)
  8. Simscape (repeat)
  9. Simscape Multibody
  10. Physics engines
  11. Solving n equations with m unknowns, ordinary least squares (OLS)
  12. Systems Identification I.
  13. Systems Identification II.

Computer-assisted exercise

26 hours, compulsory

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

  1. Direct and inverse kinematics (fkine, ikine)
  2. Denavit-Hartenberg (DH) parameters
  3. Robotic Toolbox and UR5 robot
  4. Practical task on fkine/ikine
  5. Quaternions
  6. Kinematics and dynamics of wheeled vehicles
  7. Dynamics and kinematics of mechanisms (repeat of LR2)
  8. Simscape (repeat)
  9. Simscape Multibody
  10. Physics engines
  11. Solving n equations with m unknowns, ordinary least squares (OLS)
  12. Systems Identification I.
  13. Systems Identification II.