This course is organized by modern control theory and robot control method. At first, representation and analysis of a linear system are explained based on state-space representation. After that, as a nonlinear system, robot control methods are explained.
By the end of this course, students will be able to;
(1) Modern control system
(a) Represent a linear system by a state-space formulation
(b) Assess controllability and observability of the linear system
(c) Design a controller based on pole assignment, linear quadratic regulator and observer.
(2) Robot control
(a) Understand kinematics and statics of a manipulator
(b) Understand dynamics of a manipulator
(c) Design a compliance controller
Modorn control theory, kinematics, statics, dynamics
|✔ Specialist skills||Intercultural skills||Communication skills||Critical thinking skills||Practical and/or problem-solving skills|
|✔ This class aims at learning 6 and 7 of learning objective.|
This course is mainly organized lectures. Since each lecture requires the knowledge of the previous lecture, the students have to well review the previous lessons.
|Course schedule||Required learning|
|Class 1||Dynamic equation and state-space equation||Obtain State-space equation of a linear system|
|Class 2||Transfer function and state-space equation||Transfer transfer function into state-space equation, state-space equation into transfer function|
|Class 3||Stability analysis of state-space equation||Assess the stability of the system based on eigen values of state transition matrix|
|Class 4||Connection of systems and minimum realization||Calculate minimum realization from transfer function|
|Class 5||Controllability and observability||Assess controllability and observability of state-space equation|
|Class 6||State feedback and pole assignment||Design a state feedback controller based on pole assignment theory|
|Class 7||Optimal control||Design an optimal controller using Linear quadratic regulator|
|Class 8||Observer and Kalman filter||Estimate state value using observer theory|
|Class 9||Kinematics and coordinates transformation||Understand robot kinematics|
|Class 10||Euler angle and orientation||Represent link orientation using Euler angle|
|Class 11||Inverse kinematics and Newton-Raphson method||Obtain a solution of inverse kinematics using Newton-Raphson method|
|Class 12||Statics and Virtual work principal||Obtain a solution of statics using Virtual work principal|
|Class 13||Forward/inverse dynamics||Obtain a solution of forward/inverse dynamics based on dynamic equation|
|Class 14||Linearization of nonlinear systems，Compliance control, Impedance control||Linearize a nonlinear system based on Taylor expansion or linearized feedback，Design Compliance controller and Impedance controller|
To enhance effective learning, students are encouraged to spend approximately 100 minutes preparing for class and another 100 minutes reviewing class content afterwards (including assignments) for each class.
They should do so by referring to textbooks and other course material.
Evaluate by reports.
Students should have completed "MEC.I211 Robot Kinematics" and "MEC.I312 Modeling and Control Theory" or have equivalent knowledge.