Modeling and Simulations II (FSI-RKD)

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 the solution of a specific problem in a semester project.

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.

Vector algebra. Matrix algebra. Fundamentals of kinematics and dynamics. Method of relaxation and Lagrange's equations. MATLAB/Simulink programming.

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.

The course assessment is based on a standard 0-100 point scale. During the semester, students take a midterm test and a graded credit. The midterm test is graded with a maximum of 30 points. The graded credit is assessed with a maximum of 70 points, of which 30 points can be obtained for theoretical questions and 40 points for practical tasks on a PC similar to the exercises. The overall grade is a combination of the points from both parts.

Attendance at the exercise is compulsory. The learning review is carried out at the practical.

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. Solving n equations with m unknowns, ordinary least squares (OLS)


11. Systems Identification I.


12. Identification of systems II.


13. Feedforward control

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. Solving n equations with m unknowns, ordinary least squares (OLS)


11. Systems Identification I.


12. Identification of systems II.


13. Feedforward control