Graduate Course
Instructor: Dr Mahdi Alavi
Department of Electrical Engineering
University of Windsor
Summer 2013
Syllabus:
Part I: Robotics
DC motors (with focus on permanent magnet brushed DC motors)
Physics Fundamentals
Modeling (transfer-function and state-space models)
Simulation
More concepts: (torque vs. angular velocity, armature current vs. torque, stall torque and stall current, maximum velocity, mechanical power, motor efficiency, etc.)
Motor selection
Modeling of mechatronic systems
Analytical modeling using Lagrange method
Modelling of single-link manipulators
Experimental modeling using least-square estimator
Linearization
Control system design
Stability
Stabilization using state feedback
Set-point tracking using state feedback
Luenberger observer
Part II: Programmable Logic Controllers (PLCs)
Fundamentals (building components: sensors, interface cards, microprocessor, user interface)
Programming (ladder and STL languages)
Laboratory
Evaluation Policy:
- Mid-term Exam: 30%
- Lab project: 20%
- Final Exam: 50%
References:
- M.W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley, 2006.
- J.J. Craig, Introduction to robotics: mechanics and control, 3rd Edition, Addison Wesley, 2005.
- L.A. Bryan, E.A. Bryan, Programmable Controllers: Theory and Implementation, 2nd edition, Industrial Text Co., 1996.