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Course description
  ROBOT CONTROL

Competencies and objectives

 

Course context for academic year 2021-22

The subject Robot Control focuses on the study of the different techniques used to control the movement of robots. This course develops concepts that are studied in previous subjects such as Control Engineering, Mechanisms and Robot Modeling and Basics of Automatic, applying them to the design, stability study and implementation of robotic controllers. Any robotic system would be useless if you can not control the way it is positioned in its workspace. For this purpose, this subject studies various types of kinematic and dynamic controllers, always highlighting the advantages and disadvantages of their use, both theoretically and practically. In addition, sensory control techniques such as visual servoing or force control are described, which allow the robot to interact with its environment, rather than always working in fully structured environments. Many of the control techniques that are studied in the subject extend and specialize for other types of robots, such as mobile robots, unmanned aerial vehicles, submarine robots, parallel robots, flexible robots, etc. This subject consolidates the techniques of low level control that soon will be extended, in a more specific way, in subjects of fourth year of the Degree of Robotic Engineering, like Robot Manipulators, Mobile Robots, Service Robots , Teleoperation or Multirobot systems.

 

 

Course content (verified by ANECA in official undergraduate and Master’s degrees)

General Competences (CG)

  • CG2 : Capacidad de utilizar herramientas informáticas para el modelado, la simulación y el diseño de aplicaciones de ingeniería.
  • CG5 : Ser capaz de obtener y analizar información sobre las características de materiales, circuitos, elementos de máquinas, control automático, sensores y sistemas informáticos, con el fin último de lograr aplicaciones robóticas autónomas y flexibles.

 

Specific Competences (CE)

  • CE16 : Tener capacidad para abordar problemas de cinemática y dinámica asociados al diseño, construcción y análisis de robots. Saber utilizar y diseñar algoritmos para generar las trayectorias de movimiento, con suficiente precisión, para posicionar adecuadamente diferentes tipos de robots.
  • CE22 : Ser capaz de aplicar las técnicas de control cinemático y dinámico, planificación y programación de robots, y otros sistemas de automatización asociados, en distintas situaciones.

 

Transversal Competences

  • CT1 : Capacidades informáticas e informacionales.
  • CT2 : Ser capaz de comunicarse correctamente tanto de forma oral como escrita.
  • CT3 : Capacidad de análisis y síntesis.
  • CT4 : Capacidad de organización y planificación.

 

 

 

Learning outcomes (Training objectives)

No data

 

 

Specific objectives stated by the academic staff for academic year 2021-22

  • To know the purpose and functions of a robot controller.
  • To know the difference between a kinematic controller and a dynamic controller, as well as its applications.
  • To know the hierarchical structure of a control unit.
  • To know the main strategies of interpolation of trajectories in the joint and Cartesian space.
  • To know the conditions required for correct positioning using kinematic controllers.
  • To know how to define kinematic controllers using as an error a joint position or a Cartesian.
  • To know the conditions in which it is convenient an independent joint dynamic control or decentralized dynamic control.
  • To be able to determine the most appropriate controller to develop a dynamic control.
  • To perform the adjustment of the dynamic controllers.
  • To know the applications of visual servoing.
  • To be able to distinguish the best visual controller for a given application.
  • To know the applications of force control.
  • To know the operating principle of the main force control systems.
  • To know the principle of operation of the control architecture in autonomous robots.
  • To know how to apply the controllers described in the course for the control of mobile robots and drones.
  • To know the components of the robots control architecture in different areas.
  • To motivate students in research and in the usefulness and application of robot control systems.

 

 

General

Code: 33729
Lecturer responsible:
GARCIA GOMEZ, GABRIEL JESUS
Credits ECTS: 6,00
Theoretical credits: 1,20
Practical credits: 1,20
Distance-base hours: 3,60

Departments involved

  • Dept: PHYSICS, ENGINEERING SYSTEMS AND SIGNAL THEORY
    Area: SYSTEMS ENGINEERING AND AUTOMATICS
    Theoretical credits: 1,2
    Practical credits: 1,2
    This Dept. is responsible for the course.
    This Dept. is responsible for the final mark record.

Study programmes where this course is taught