Course-PM

SSY156 Modelling and control of mechatronic systems lp3 VT21 (7.5 hp)

Course is offered by the department of Electrical Engineering

 

Upcoming Deadlines:

 

Contact details

• Lecturer: Yiannis Karayiannidis, Department of Electrical Engineering
  • E-mail: yiannis@chalmers.se
  • Tutoring: On appointment
• Course administrator/Teaching Assistant: Yixiao Wang
  • E-mail: yixiaow@chalmers.se 
  • Tutoring: On appointment
  • Responsibilities: Lab, Peer-to-peer homework
• Teaching Assistant: Rita Laezza
  
  • E-mail: laezza@chalmers.se 
  • Tutoring: On appointment
  • Responsibilities: Lab, Exercise sessions (PSS)

Course purpose

The course goal is to give a theoretical framework for modeling and controlling the motion of mechatronic systems and their interaction with the environment. The course focus on robotic manipulators (arms) that performs tasks with their end-effectors.

Schedule

TimeEdit

Course literature

Robotics: Modelling, Planning and Control by Siciliano, Sciavicco, Villani, and Oriolo

 

Useful Links

Zoom Lectures: https://chalmers.zoom.us/j/61324043739 Password: SSY156

Zoom PSS: https://chalmers.zoom.us/j/61192861277 Password: SSY156

Zoom Supervision Sessions: https://chalmers.zoom.us/j/62457656701 Password: SSY156

 

Course design

The main learning activities include lectures, problem solving sessions and lab supervision sessions. A “week” of the course typically consists of 2 lectures, 2 problem solving sessions and one lab supervision. Please see the calendar and Time-Edit for a more concrete schedule of the course its learning activities.  

Lectures provide with the basic knowledge and is guided by the lecture slides. The slides can be used as learning material and as a compass for navigating the course textbook and are uploaded on Canvas before the lecture. Lectures are accompanied by problem solving sessions where additional, more complicated and computer examples are shown, and the students have the opportunity to use the acquired knowledge from the lectures. The exercises solved during problem solving sessions are also uploaded on Canvas. During lab supervision occasions the students can pose individual questions to the teaching assistants regarding lab assignments or other questions relevant to the course content.

The course examination is based on group homeworks and lab assignments that run in parallel with the course on topics that have previously been covered during the lectures and problem solving sessions. An examination in the form of a digital test is also provided at the end of the course. This exam is optional and gives additional points that can help increasing the students’ final grade.

Attendance is not mandatory but the students are encouraged to attend the learning activities in order to expedite and enhance learning. A couple of groups are selected for presenting their solutions for the homeworks every other week (weeks 2, 4, 6, 8 of the course). At least one group member should be able to attend the corresponding learning activity and present the problem that the group got to solve as well as a sketchy solution. This is not mandatory but it is a learning activity that helps building presentation skills and critical thinking.

The learning platform used by the course is Canvas. All lectures are posted on Canvas, the day before the lecture. The students need to upload their assignments on Canvas and also use Canvas for evaluating the homeworks of other groups. Both Canvas and e-mail can be used for reaching the teachers.

Since the evaluation of the course is based on assignments that build on each other and not on a summative exam, the deadlines of the optional lab assignments are strict.

Learning objectives and syllabus

Learning objectives:

• Learning how to formulate kinematic models describing the position and orientation of complex multi-body systems within the operational space
• Learning how to derive differential kinematic models and use them in order to solve kinematic control problems for multi-body systems.
• Learning how to apply the Euler-Lagrange method to multi-body systems to derive mathematical models describing their motion and understanding the properties of the derived models
• Understanding basic linear control design concepts and how to apply them to achieve decentralized motion control of multi-body mechatronic systems.
• Learning model-based motion control frameworks to control the motion of multi-body systems and their interaction with the environment

Link to the syllabus on Studieportalen.

Study plan

Examination form

The course examination is based on the following:

• Three individual lab assignments
  • Modeling and solving a number of motion and interaction control tasks using the simulated (Quanser) Phantom Omni robotic system. The system consists of three actuated joints and is programmable in Simulink. 
  • Solving a number of Kinematics and Inverse kinematics tasks on simulated KUKA manipulator. The system consists of seven actuated joints and is programmable in Simulink.
• Four group homeworks
  • During week 1 students are assigned to groups (3/group)
  • Week 1, 5: The groups get one problem to solve from the teachers.
  • Weeks 3, 7: Each group submits a problem with accompanied solution on an assigned topic, the problem is sent to another group for solving.
  • Weeks 4, 8: Students submit their solution and suggest a grade for the problem they got as well as correct the problem submitted by them. (More details on how you recommend grades for other groups will be given in the classroom).

Compulsory examination components:

• Mandatory part of Lab assignments
• Proposal of homework in week 3 & 7

Optional examination component:

• Solving of homeworks
• Optional part of Lab assignments
• Final digital test. Accessible 3 days during the exam week. The student should reserve 2 hours for running the test.

Grading

Optional lab assignments are worth 15 points in total.

Homeworks are worth 17 points in total. HW1 2 point HW2-4 5 points

Optional final test is worth  8 points.

Grades are decided based on the total awarded points (Lab + homeworks + final digital test) according to following scale:

• 8 points   -->  3
• 18 points -->  4
• 28 points -->  5

Note that a grade 5 can be achieved even without the final digital test.

 

Changes from previous year

• All learning activities (lectures, PSS, lab supervision are held through zoom, see useful links).
• Students are assigned to groups for the group homeworks by the teachers. [this has been modified so that only students that cannot find a group are randomly allocated to new groups by the teachers]
• The lab assignments are only based on simulations. 
• The grading scale has been changed