doc. Ing. Robert Grepl, Ph.D.

Institute of Solid Mechanics, Mechatronics and Biomechanics

The course grade is based on a standard 0-100 point scale. The evaluation includes one test and a semester project. Participation in the exercises is compulsory. Attendance and activity in the exercises are monitored in accordance with the assessment criteria set for the exercises.

English

Students will learn about modelling dynamic systems (mechanical, electromechanical and controlled) on a computer. During the course they will acquire knowledge and skills in the following areas:

• Linear dynamical systems and their analysis
• Modeling in MATLAB/Simulink environment
• Modeling of controlled systems
• Hands-on experience in controlling a real system using an I/O card from MATLAB/Simulink

This course combines theoretical knowledge with practical use in engineering applications.

13 hours, compulsory

1. Direct and inverse kinematics (fkine, ikine)


2. Denavit-Hartenberg (DH) parameters


3. Robotic Toolbox and UR5 robot


4. Practical task on fkine/ikine


5. Quaternions


6. Kinematics and dynamics of wheeled vehicles


7. Dynamics and kinematics of mechanisms (repeat of LR2)


8. SimScape (repeat)


9. SimScape Multibody


10. Solving n equations with m unknowns, ordinary least squares (OLS)


11. Systems Identification I.


12. Identification of systems II.


13. Feedforward control