NATIONAL UNIVERSITY OF ENGINEERING

COLLEGE OF MECHANICAL ENGINEERING

MECHATRONICS ENGINEERING PROGRAM

MT517 – ROBOT ANALYSIS AND CONTROL

I. GENERAL INFORMATION
CODE : MT517 Robot Analysis and Control
SEMESTER : 8
CREDITS : 3
HOURS PER WEEK : 4 (Theory–Practice)
PREREQUISITES : MT516 Multibody Systems Dynamics
CONDITION : Compulsory
DEPARTMENT : Mechatronics Engineering

II. COURSE DESCRIPTION

The course prepares students for the analysis of the kinematics and dynamics of articulated robot
arms, as well as for their control in order to describe desired trajectories. The forward and reverse
kinematics are analyzed, as well as the methods for analyzing and describing the dynamics of
robotic manipulators is simulated. Different control strategies are analyze and applied for
controlling the dynamics of robots arms. Control methods are implemented in real-time using a
robotic manipulator.

III. COURSE OUTCOMES

At the end of the course, students:
1. Analyze the kinematics and dynamics of robot manipulators.
2. Know how to control a robotic manipulator to complete a given task.
3. Analyze the operation of robotic manipulators and perform automatic control plans.
4. Design optimal robotic control systems.

IV. LEARNING UNITS

1. INTRODUCTION
Fundamentals / Robot components / Robot applications / Review of DC motor control /
Review of real time Digital Signal Processing (DSP).
2. ROBOT KINEMATICS
Kinematics / Forward and reverse kinematics of a manipulator / Solving kinematics for
different robotic manipulators and different degrees of freedom systems / Jacobian and its
pseudo-inverse / Singularities of the manipulator / Equations of motion / Rotation matrices /
Differential speeds.
3. STATICS AND DYNAMICS
Statics: solving statics by classical methods / Newton-Euler method / Duality of kinematics
and statics / Flexibility matrix / Dynamics: methods to analyze and formulate the dynamics of
robotic manipulators / Physical interpretation of the inertia matrix / Coriolis and centrifugal
components.
4. CONTROL
Linear control: PID control of manipulators / Computed Torque Control: Review of the
different techniques of Computed Torque Control / Linearization / Compensation of gravity /
Adaptive control: Check the technique of adaptation and adaptive law for a specific trajectory
/ Hybrid Control: control of force and position of serial robotic manipulators / Introduction to
movable robotics.
 V. PRACTICE AND LABORATORY WORK
Practice 1: Robotic fundamentals.
Practice 2: Robot kinematics – Simulation using MATLAB on robotic manipulator control
(multiple-degrees of freedom systems).
Practice 3: Robotic statics and dynamics.
Practice 4: Robot Control. Laboratory tests using five-degrees of freedom robot in the
Automation Laboratory, by the use of the Digital Signal Processing TMS320F2812.

VI. METHODOLOGY
This course will be taught under the modality consisting of theory and practice sessions. In the
theory sessions, the teacher presents concepts and application criteria. In the practice sessions,
various problems are solved and their solution analyzed. Student’s active participation is
promoted.

VII. GRADING FORMULA

The Final Grade PF is calculated as follow:

PF = (EP + 2*EF + PP) / 4

EP: Mid-term Exam EF: Final Exam

PP: Average of Practice and Laboratory Work

VIII. BIBLIOGRAPHY
1. MARK W. SPONG, SETH HUTCHINSON and M. VIDYASAGAR.
Robot Modeling and Control, John Wiley & Sons.
2. ASADA, H and J.J. SLOTINE.
Robot Analysis and Control, John Willey & Sons, New York, USA, 1986.