Kinematics and Dynamics of Mechatronic Systems (FSI-RKD)

Academic year 2018/2019
Supervisor: doc. Ing. Robert Grepl, Ph.D.  
Supervising institute: ÚMTMB all courses guaranted by this institute
Teaching language: Czech
Aims of the course unit:
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.
Learning outcomes and competences:
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
Prerequisites:
Vector algebra. Matrix algebra. Basics of kinematics and dynamics. Newton method, Lagrange equations. Basic of programming.
Course contents:
The course deals with the kinematics and dynamics modelling of controlled mechatronic systems. Previous knowledge of mechanics is developed, mainly with focus on numerical solution of problems on computers. Mechanisms are considered as rigid multi body systems. Exercises run on computers using Matlab and Maple. Forward and inverse kinematic model is solved using analytical and numerical methods. Dynamic model is built using Newton's method, Lagrange equations and automatically (Matlab/SimMechanics). Modelling of electrical and regulation structures such as submodels of complex models are also discussed.
Teaching methods and criteria:
The course is taught through lectures explaining the basic principles and theory of the discipline. Exercises are focused on practical topics presented in lectures.
Assesment methods and criteria linked to learning outcomes:
The course is evaluated on the base of active participation in exercises, theoretical and practical tests and reports from the exercises.
Controlled participation in lessons:
Attendance at practical training is obligatory. Attendance at exercises is checked.
Type of course unit:
    Lecture  13 × 2 hrs. optionally                  
    Computer-assisted exercise  13 × 2 hrs. compulsory                  
Course curriculum:
    Lecture 1. Introduction to kinematics and dynamics of rigid bodies
2. Spatial representation of body in space, their transformation
3. Forward kinematic model - analytical methods
4. Inverse kinematic model - analytical model, numerical approach
5. Trajectory generation
6. Kinetostatics
7. Analytical methods of dynamics model building
8. Analytical methods of dynamics model building
9. Numerical methods of dynamics model solving
10. Modelling of discontinuities modelling
11. Simulation of dynamic model in Matlab and Matlab/Simulink
12. Modelling of electrical submodels and control structures
13. Automatic building of dynamic model
    Computer-assisted exercise 1. Matlab and its usage for kinematic and dynamic modelling. Examples of models.
2. Modelling of kinematics in Matlab and using Robotic Toolbox
3. Modelling of dynamics in Matlabu, examples
4. Modelling of dynamics in Matlabu/Simulink, examples
5. Modelling of dynamics in Matlabu/SimMechanics, examples
6.-12. Semestrer project
13. Presentation of semestrer project, evaluation
Literature - fundamental:
1. Spong, M. W.; Hutchinson, S. & Vidyasagar, M. Robot Modeling and Control Wiley, 2005
2. Sciavicco, L.; Siciliano, B. & Sciavicco, B. Modelling and Control of Robot Manipulators Springer-Verlag New York, Inc., 2000
3. Murray, R. M.; Sastry, S. S. & Zexiang, L. A Mathematical Introduction to Robotic Manipulation CRC Press, Inc., 1994
4. Corke,P.I.: A Robotics Toolbox for Matlab, IEEE Robotics and Automation Magazine, pp.24–32, 1996
Literature - recommended:
1. Grepl, R. Kinematika a dynamika mechatronických systémů CERM, Akademické nakladatelství, 2007
2. Grepl, R. Modelování mechatronických systémů v Matlab/SimMechanics BEN - technická literatura, 2007
3. Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995
4. Kratochvíl, C., Slavík, J.: Mechanika těles-dynamika, PC-DIR, skriptum VUT Brno, 1997
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
M2A-P full-time study M-MET Mechatronics -- GCr 5 Compulsory 2 1 W