| MODELLING,
OPTIMIZATION AND SIMULATION: PROBLEMS AND APPLICATIONS |
Programme
Monday
09.00-09.45 Course presentation
09.45-10.30 Modelling of rigid robots and mechanisms
11.00-11.45 Degrees of freedom, constraints, translation, orientation of rigid bodies, etc.
11.45-12.30 Representation of links and joints, DH parameters
14.30-15.15 Direct and inverse kinematics, workspace, velocities, manipulator
15.15-16.00 Jacobian, singularities of robots and mechanisms
16.30-17.15 Discussion
Tuesday
09.00-09.45 Modelling of flexible robots and mechanisms
09.45-10.30 Euler-Bernoulli beam equation by assumed modes approach and FEM
11.00-11.45 Modelling of links and joints, position and velocity of flexible manipulators
11.45-12.30 Comparison of assumed modes approach and FEM
14.30-15.15 Equations of motion of flexible manipulators
15.15-16.00 Modelling of feedback controlled robots and mechanical systems
16.30-17.15 Modelling of a single link, joint and actuator, PID control of an individual joint of a robot
17.15-18.00 Discussion
Wednesday
09.00-09.45 Model based non-linear control of robots
09.45-10.30 Model based non-linear control of robots
11.00-11.45 Force control of robots
11.45-12.30 Force control of robots
14.30-15.15 Simulations and experiments on control of robots
15.15-16.00 Simulations and experiments on control of robots
16.30-17.15 Simulations of robots and mechanisms
17.15-18.00 Discussion
Thursday
09.00-09.45 Overview of numerical integration methods, using Matlab and Simulink
09.45-10.30 Overview of numerical integration methods, using Matlab and Simulink
11.00-11.45 Case studies of simulation of rigid robots
11.45-12.30 Case studies of simulation of rigid robots
15.15-16.00 Case studies of simulation of flexible robots
16.30-17.15 Case studies of simulation of flexible robots
17.15-18.00 Comparison of simulation and experiments with a 2 link flexible system
Friday
09.00-09.45 Non-linear dynamics and chaos
09.45-10.30 Overview of non-linear dynamical systems, chaos, tools for diagnosing chaos, etc.
11.00-12.30 Case study of possible chaotic motion in feedback controlled robots
14.30-18.00 Free
09.00-09.45 Course presentation
09.45-10.30 Modelling of rigid robots and mechanisms
11.00-11.45 Degrees of freedom, constraints, translation, orientation of rigid bodies, etc.
11.45-12.30 Representation of links and joints, DH parameters
14.30-15.15 Direct and inverse kinematics, workspace, velocities, manipulator
15.15-16.00 Jacobian, singularities of robots and mechanisms
16.30-17.15 Discussion
Tuesday
09.00-09.45 Modelling of flexible robots and mechanisms
09.45-10.30 Euler-Bernoulli beam equation by assumed modes approach and FEM
11.00-11.45 Modelling of links and joints, position and velocity of flexible manipulators
11.45-12.30 Comparison of assumed modes approach and FEM
14.30-15.15 Equations of motion of flexible manipulators
15.15-16.00 Modelling of feedback controlled robots and mechanical systems
16.30-17.15 Modelling of a single link, joint and actuator, PID control of an individual joint of a robot
17.15-18.00 Discussion
Wednesday
09.00-09.45 Model based non-linear control of robots
09.45-10.30 Model based non-linear control of robots
11.00-11.45 Force control of robots
11.45-12.30 Force control of robots
14.30-15.15 Simulations and experiments on control of robots
15.15-16.00 Simulations and experiments on control of robots
16.30-17.15 Simulations of robots and mechanisms
17.15-18.00 Discussion
Thursday
09.00-09.45 Overview of numerical integration methods, using Matlab and Simulink
09.45-10.30 Overview of numerical integration methods, using Matlab and Simulink
11.00-11.45 Case studies of simulation of rigid robots
11.45-12.30 Case studies of simulation of rigid robots
15.15-16.00 Case studies of simulation of flexible robots
16.30-17.15 Case studies of simulation of flexible robots
17.15-18.00 Comparison of simulation and experiments with a 2 link flexible system
Friday
09.00-09.45 Non-linear dynamics and chaos
09.45-10.30 Overview of non-linear dynamical systems, chaos, tools for diagnosing chaos, etc.
11.00-12.30 Case study of possible chaotic motion in feedback controlled robots
14.30-18.00 Free
