1

Valid for university year: 2013 - 2014

SYLLABUS

Subject name : Control systems in robotics

Subject code :

Domain: Mechatronics and Robotics

Study programme : Robotics

Department: Machines and Equipments

Faculty: "Hermann Oberth" Faculty of Engineering

University: "Lucian Blaga" University of Sibiu

Study year: III Semester 6 Type of final evaluation Exam

Subject type (DI=mandatory/ DO=optional/DF=at will):

DI Number of credits: 4

Formative category of the subject (DF=fundamental.; DI=engineering; DS=speciality; DC=complementary) DS

Total number of hours from the

curriculum 42

Total number of hours

per semester: 42

Subject titulary: Lecturer Dr.Eng. Claudia GIRJOB

Total number of hours (per semester) from the curriculum

Total hours/ semester C S L P Total

28 14 42

Objectives:

Acquiring of the knowledge regarding the realising of control systems for

robots, especially for industrial robots (IR), with the stages this implies:

obtaining the robot's model, planning the robot's movement, realising the

control scheme and algorithm using the available model and programming

the robot's activities.

Competences

specific for the

subject

1. Knowledge and understanding: • Knowledge of the evolution and development of robot control systems

• Knowledge of the component elements of robot control systems

• Knowledge of the functioning principles and emphasising of the

subsystems of the robot control systems

• Knowledge of the types and constructive variants.

2. Explaining and interpreting:

• Explaining and interpreting of the manner of obtaining the robot's model

• Explaining of the means for realise the scheme, algorithm for controlling

and programming robots

• Capability to explain and operate with the terms specific for robot control

systems

3. Instrumental – applicative • Knowledge of the methods for controlling robots

•••• Developing the engineering ability to use the robot control systems

2

4. Attitudinal: • Promoting the attitudinal and aptitudinal qualities specific for the

engineering profession;

• Showing positive and responsible attitudes towards the technical domain;

• Optimal and creative valorisation of the own potential in goods

production activities;

• Development of the interest for the engineering profession and for the

technical training.

Topical contents

(descriptors)

COURSES TOPICS

Curr

no.

Topic name No. of

hours

1. Introduction. Defining the positioning parameters. 2

2. Homogeneous representation of objects. Homogeneous

transformations.

2

3. Determining the direct geometrical model (open chain structure).

Direct geometrical model for the closed chain structure.

2

4. The reverse geometrical model. 2

5. Homogeneous differential transformations. The Jacobi

matrix. Examples.

2

6. Dynamic model for the subsystem actuation. 2

7. Dynamic model for the manipulation structure. 2

8. Point-by-point movement trajectory. Continuous

movement trajectory.

2

9. Indicating the movement. Planning the trajectory in

generalised coordinates: planning a trajectory between

two specified points and planning a trajectory with

several specified points.

2

10. Planning the trajectory in operational coordinates 2

11. Control of industrial robots using the states space. 2

12. Numerical control of IR. 2

13. Control of IR based on the kinematic model. 2

14. Adaptive control of IR. 2

APPLICATIONS TOPICS

1. Work safety. Presentation of the laboratory 2

2. Homogeneous geometrical transformations. The direct

geometrical model (DGM). The reverse geometrical

model (RGM) of IR.

2

3. Conventional setup systems in the control of industrial

robots. Analysis of an adaptive control system with

reference model for an axis of an IR.

2

4. Computerised control of a manipulator with two freedom

degrees.

2

5. Navigation algorithms. Self-tuning PID control

algorithm for an axis of an industrial robot.

2

6. Presentation of the specific programmes for robot control

systems

2

7. Knowledge testing 2

3

Methods for

teaching /

seminarisation

The procedure during the teaching of the course is classical lecturing,

aided by the usage of modern means for image displaying, while among

the methods employed there can be mentioned the problematisation,

learning through discovery and case study. Concerning the techniques used

during the teaching activities, they are: the synthetic presentation,

explanations, proving by schemes, graphs etc.

The laboratory activities are based on experimentation, using the

experiment as method, as well as heuristic methods.

Determining of

the final grade

(percentages)

- answers at the exam/colloquium (final assessment) 50%

- tests during the semester 15%

- final answers at the practical laboratory tasks 20%

- activities such as homeworks/papers/projects etc. -

- control tests 15%

- other activities………………………………

- TOTAL 100%

Describe the practical means for final assessment, E/V (for example: written test (descriptive

and/or grid-type test and/or problems etc.), oral examination, individual or group colloquium,

project etc.)

The final assessment will be done as a written test.

Minimal requirements for grade 5

• Mandatory attendance at and execution of all

laboratory activities, with a presentation at the

semester's end

• Tackling and solving at the level of grade 5 of

all subjects from partial tests and from the final

exam.

Requirements for grade 10

• Mandatory attendance at and execution of

all laboratory activities, with a presentation at

the semester's end, with a maximal grade

granted during these activities and for the

contents of the presentation.

• Tackling and solving at the level of the

maximal grade of all subjects from partial

tests and from the final exam.

TOTAL number of hours of individual study (per semester) = 89

4

References

Minimal mandatory references:

• Borangiu Th., Hossu A., Sisteme educaţionale în robotică, Edit. Tehnică,

Bucureşti, 1991.

• Davidoviciu A., Drăgănoiu Gh., Moangă A., Modelarea, simularea şi

comanda manipulatoarelor şi roboţilor industriali, Edit. Tehnică, 1986.

• Fu K. S., Gonzalez R. C., Lee C. S. G., Robotics, Mc Graw-Hill, 1987.

• Gh.Lazea,E.Lupu,P.Dobra –Sisteme de conducere a robotilor si fabricatie

integrata Ed.Mediamira,Cluj-N.,1997

• Pănescu D., Sisteme de conducere a roboţilor industriali - Modelare şi planificarea

traiectoriei, Rotaprint Universitatea Tehnică “Gh. Asachi” Iaşi, 1996.

• Voicu M., Lazăr C., Sisteme de conducere a roboţilor industriali, vol. III,

Rotaprint I. P. Iaşi, 1987.

Complementary references:

• Ivănescu M., Roboţi industriali, Edit. Universitaria, Craiova, 1994.

• Mc Kerrow P.J. – Introduction to Robotics. Add.-Wesley Sydney,1995.

List of teaching materials used during the teaching process:

- books indicated at the minimal mandatory references section, including in electronic

format.

- overhead projector and video-projector

- notebook

- apparatusses from the endowment of the speciality laboratory

Subject coordinator

Teaching degree, title, first name, last name Signature

Lecturer Dr. Eng. Claudia GIRJOB

Head of department

Prof. Dr. Eng. Octavian BOLOGA