Module also offered within study programmes:
General information:
Name:
Kinematics and dynamics of mechatronic systems
Course of study:
2013/2014
Code:
RMS-2-103-MD-s
Faculty of:
Mechanical Engineering and Robotics
Study level:
Second-cycle studies
Specialty:
Mechatronic Design
Field of study:
Mechatronics with English as instruction languagege
Semester:
1
Profile of education:
Academic (A)
Lecture language:
English
Form and type of study:
Full-time studies
Course homepage:
 
Responsible teacher:
dr hab. inż. Lisowski Wojciech (lisowski@agh.edu.pl)
Academic teachers:
dr hab. inż. Lisowski Wojciech (lisowski@agh.edu.pl)
dr hab. inż. Buratowski Tomasz (tburatow@agh.edu.pl)
dr hab. inż, prof. AGH Cieślik Jacek (cieslik@agh.edu.pl)
Module summary

Description of learning outcomes for module
MLO code Student after module completion has the knowledge/ knows how to/is able to Connections with FLO Method of learning outcomes verification (form of completion)
Skills
M_U001 Can carry out kinematic analysis of a mechatronic actuating or positioning system MS2A_U07, MS2A_U03, MS2A_U02 Project
M_U002 Can formulate dynamic model of a mechatronic positioning system with use of appropriate software tools, and is able to classify components of the formulated dynamic equations of motion MS2A_U07, MS2A_U03, MS2A_U02 Report,
Execution of laboratory classes
M_U003 Can plan motion path of a mobile mechatronic system MS2A_U07, MS2A_U03, MS2A_U02 Report,
Execution of laboratory classes
M_U004 Can make use of computer aided engineering tools for simulation of mechanics of a mechatronic positioning system MS2A_U07, MS2A_U03, MS2A_U02 Report,
Execution of laboratory classes
Knowledge
M_W001 Knows methods of kinematic analysis and synthesis of actuating and positioning mechanisms of mechatronic systems MS2A_W07, MS2A_W04 Examination,
Project
M_W002 Knows techniques of: motion path and trajectory planning, kinematic modelling, singularity analysis, as well as static and dynamic analysis of positioning mechanisms of mechatronic systems MS2A_W07, MS2A_W04 Examination,
Report,
Execution of laboratory classes
M_W003 Knows methods of description of position and orientation, kinematics and dynamics, motion path planning and navigation of mobile mechatronic systems MS2A_W07, MS2A_W04 Examination,
Report,
Execution of laboratory classes
FLO matrix in relation to forms of classes
MLO code Student after module completion has the knowledge/ knows how to/is able to Form of classes
Lecture
Audit. classes
Lab. classes
Project classes
Conv. seminar
Seminar classes
Pract. classes
Others
Zaj. terenowe
Zaj. warsztatowe
E-learning
Skills
M_U001 Can carry out kinematic analysis of a mechatronic actuating or positioning system - - - + - - - - - - -
M_U002 Can formulate dynamic model of a mechatronic positioning system with use of appropriate software tools, and is able to classify components of the formulated dynamic equations of motion - - + - - - - - - - -
M_U003 Can plan motion path of a mobile mechatronic system - - + - - - - - - - -
M_U004 Can make use of computer aided engineering tools for simulation of mechanics of a mechatronic positioning system - - + + - - - - - - -
Knowledge
M_W001 Knows methods of kinematic analysis and synthesis of actuating and positioning mechanisms of mechatronic systems + - - - - - - - - - -
M_W002 Knows techniques of: motion path and trajectory planning, kinematic modelling, singularity analysis, as well as static and dynamic analysis of positioning mechanisms of mechatronic systems + - - - - - - - - - -
M_W003 Knows methods of description of position and orientation, kinematics and dynamics, motion path planning and navigation of mobile mechatronic systems + - - - - - - - - - -
Module content
Lectures:
Kinematics and dynamics of mechatronic systems

Classification of models types of actuating and positioning mechanisms.
Classification of mechanisms of mechatronic systems including: kinematic chains of actuating mechanisms, transmission systems, applicable driving systems, positioning mechanisms (manipulators), and mobile systems.
Advanced methods of kinematic analysis of mechanisms of mechatronic systems.
Techniques of planning the motion path of positioning mechanisms in bounded workspace with obstacles.
Methods of kinematic synthesis of mechanisms of mechatronic systems.
Techniques of description and analysis of position and orientation of a link of a positioning mechanism.
Techniques of trajectory planning of positioning spatial mechanisms.
Methods of determination of kinematic parameters of manipulators. Manipulator Jakobian matrix. Singularity analysis of pose of positioning mechanisms. Static analysis of manipulators.
Description of mass spatial distribution and manipulator kinetic energy of analysis.
Description of position and orientation of mobile robots with use of homogeneous transformation and odometric technique.
Planning of motion trajectory of wheeled mobile robots. Methods of minimization of length of trajectory (wavefront algorithm). Problems of localization in space. Navigation of a mobile wheeled robot or a group of mobile robots with use of external markers method.
Determination of kinematic parameters of wheeled mobile robots for considered motion trajectories.
Dynamics of wheeled mobile robots – Lagrange’s and Maggi’s equations.
Approximation of nonlinear components of dynamic model with use of artificial neural networks or fuzzy sets.

Laboratory classes:
Manipulating and mobile mechatronic positioning systems

Analysis of position and orientation of positioning mechanisms’ links on example of manipulators. Motion path planning of positioning mechanisms’ links.
Kinematic analysis of positioning mechanisms’ links motion. Pose singularity analysis.
Description of spatial distribution of positioning mechanisms links’ mass. Analysis of variation of mechanisms’ kinetic energy during motion. Structure of dynamic equations of motion on example of manipulators. Inverse dynamics – determination of driving forces and loads (generalised forces).
Formulation and simulation of kinematics of mobile mechatronic positioning systems.
Formulation and simulation of dynamics of mobile mechatronic positioning systems.
Application of experimental techniques in formulation of dynamic model on example of a 2 wheeled mobile robot.
Application of artificial neuron nets or fuzzy sets for approximation of nonlinear components of the dynamic model on example of a 2 wheeled mobile robot.
Seminar – presentation of results.

Project classes:
Kinematic analysis in designing of actuating and positioning mechatronic mechanisms

Tools of computer aided analysis and synthesis of mechanisms. Kinematic analysis mechanisms of selected mechatronic systems. Planning of motion path of positioning mechanisms in bounded space with obstacles. Kinematic synthesis of selected mechatronic systems.

Student workload (ECTS credits balance)
Student activity form Student workload
Summary student workload 200 h
Module ECTS credits 7 ECTS
Preparation for classes 25 h
Participation in laboratory classes 30 h
Preparation of a report, presentation, written work, etc. 15 h
Participation in project classes 30 h
Contact hours 5 h
Completion of a project 25 h
Participation in lectures 45 h
Realization of independently performed tasks 24 h
Examination or Final test 1 h
Additional information
Method of calculating the final grade:

The course final grade is determined basing on:
- average of the laboratory partial grades (35%)
- the project class grade (35%)
- the exam grade (30%)

Prerequisites and additional requirements:

Prerequisites and additional requirements not specified

Recommended literature and teaching resources:

G. Cook, Mobile Robots: Navigation, Control and Remote Sensing, 2011
K. S. Fu, R. Gonzalez, C.S.G. Lee, “Robotics control, sensing, vision, and intelligence”, Mc Graw Hill 2008
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, “Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing)”, Springer 2010
R. Siegwart, I. R. Nourbakhsh, D. Scaramuzza, Introduction to Autonomous Mobile Robots (Intelligent Robotics and Autonomous Agents series), 2011
M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, John Wiley and Sons, Inc., 2005

Scientific publications of module course instructors related to the topic of the module:

Additional scientific publications not specified

Additional information:

None