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Course detail
FSI-RKD-AAcad. year: 2023/2024
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.
Language of instruction
Number of ECTS credits
Mode of study
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Department
Offered to foreign students
Entry knowledge
Rules for evaluation and completion of the course
The evaluation is based on the standard point system 0-100b. The students can get up to 30 points for the individual semestral project and its presentation and up to 70 points for the final test. The final test consists of a theoretical test, assignments in Matlab/Simulink, and a discussion. In all cases, especially the fulfillment of functional requirements and the quality of the realization are the evaluation criteria.
Aims
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Prerequisites and corequisites
Basic literature
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Classification of course in study plans
Lecture
Teacher / Lecturer
Syllabus
1. Introduction to kinematics of rigid bodies, forward kinematics2. Spatial representation of the body in space, their transformation, inverse kinematics - analytical methods3. Inverse kinematics - numerical methods4. Optimisation methods - gradient descent5. Quaternions6. Trajectory planning7. D-H parameters8. Introduction to dynamics of rigid bodies, forward and inverse task9. Modelling in Matlab/Simulink Multibody10. Kinematics of wheeled vehicles11. Linearisation12. Term project consultations13. Reserve
Computer-assisted exercise
1. Forward kinematics of RR manipulator2. Rotations and transforms3. Inverse kinematics (analytical and numerical methods)4. Optimisation tasks5. Solving sets of nonlinear equations6. Trajectory planning7. Robotic toolbox8. Lagrange equations9. Basic kinematics and dynamics in Matlab/Simulink Multibody10. State-space model and discretization11-12. Work on term project13. Evaluation