Course detail

Modeling and Control of Robots and Manipulators

FSI-VRM Acad. year: 2026/2027 Summer semester

After completing the course, the student will be able to:

  • understand kinematic and dynamic modeling of industrial and mobile robots,

  • perform multibody modeling of manipulators and their drive systems,

  • design control structures for robotic systems and evaluate their stability and performance,

  • implement trajectory planning and motion control,

  • build simulation models and digital twins of robots,

  • apply virtual commissioning techniques.

Supervisor

prof. Ing. Zdeněk Hadaš, Ph.D.

Department

Institute of Automation and Computer Science

Learning outcomes of the course unit

Prerequisites

  • knowledge of linear algebra and basic differential equations,

  • introductory knowledge of automation and control (advantage),

  • basic programming skills,

  • fundamentals of mechanics and dynamics.

Planned learning activities and teaching methods

Assesment methods and criteria linked to learning outcomes

 
Attendance at lectures is recommended, attendance at seminars is required. It is at the teacher's discretion to decide how to make up for missed seminars.

Language of instruction

Czech

Aims

Specification of controlled education, way of implementation and compensation for absences

The study programmes with the given course

Programme N-AIŘ-P: Applied Computer Science and Control, Master's
branch ---: no specialisation, 4 credits, compulsory

Type of course unit

 

Lecture

13 hours, optionally

Syllabus



  • Introduction to robotics, robot types, core concepts, architecture of robotic systems




  • Forward and inverse kinematics of robotic manipulators




  • Differential kinematics and Jacobians




  • Dynamic models of robots




  • Multibody modeling of manipulators and drive systems




  • Dynamic simulation of motion, loads, torques




  • Basics of robot control — PID, decoupling, robust control




  • Advanced control — model-based control, feedforward, impedance control




  • Trajectory planning — position, velocity, time-optimal trajectories




  • Modeling robot–environment interaction (contact tasks)




  • Virtual commissioning, digital twin of a robot




  • Integration of robots into production lines — communication, safety, PLC interfaces




  • Trends in robotics — collaborative robots, AMRs, AI in robotics



Laboratory exercise

39 hours, compulsory

Syllabus



  • Introduction to simulation environment, basic manipulator model




  • Forward and inverse kinematics for a 2–3 DOF robot




  • Numerical differential kinematics, Jacobian computation




  • Multibody model of a simple manipulator




  • Drive simulation — motor, gearbox, friction models




  • Dynamic simulation and torque computation




  • Implementation of basic position control




  • Implementation of advanced control — feedforward/impedance




  • Trajectory generation and simulation




  • Simulation of contacts and robot–environment interaction




  • Virtual commissioning — creation of a robot digital twin




  • Simulation of a robotic cell with sensors/PLC integration




  • Project presentations — complete model + control + simulation