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Course: 2022/2023

Robot's control architectures

(19113)

Study: Bachelor in Robotics Engineering (381)

Coordinating teacher:

Department assigned to the subject: Department of Systems Engineering and Automation

Type: Compulsory

ECTS Credits: 3.0 ECTS

Course: 4º

Semester: 1º

Skills and learning outcomes

Link to document

Description of contents: programme

1. Robot control architecture 2. Multi-axis controller a. Synchronization b. Data exchange c. FeedForward and Notch filter 3. Position control Loop 4. Velocity control Loop 5. Force-torque control loop 6. Hybrid control 7. High level control a. Task controller b. Navigation c. Manipulation d. Grasping

Learning activities and methodology

THEORETICAL PRACTICAL CLASSES. Knowledge and concepts students must acquire. Receive course notes and will have basic reference texts. Students partake in exercises to resolve practical problems. TUTORING SESSIONS. Individualized attendance (individual tutoring) or in-group (group tutoring) for students with a teacher. Subjects with 6 credits have 4 hours of tutoring/ 100% on- site attendance. STUDENT INDIVIDUAL WORK OR GROUP WORK. Subjects with 6 credits have 98 hours/0% on-site. WORKSHOPS AND LABORATORY SESSIONS. Subjects with 3 credits have 4 hours with 100% on-site instruction. Subjects with 6 credits have 8 hours/100% on-site instruction.

Assessment System

FINAL EXAM. 
Global assessment of knowledge, skills and capacities acquired throughout the course. The percentage of the evaluation varies for each subject between 60% and 0%.

CONTINUOUS EVALUATION. 
Assesses papers, projects, class presentations, debates, exercises, internships and workshops throughout the course. The percentage of the evaluation varies for each subject between 40% and 100% of the final grade.

% end-of-term-examination 60
% of continuous assessment (assigments, laboratory, practicals...) 40

The course syllabus may change due academic events or other reasons.