Modeling and control of robotic processes

A prerequisite for controlling an electromechanical system is to obtain a model that can be used to characterize the system mathematically. This course proposes an analytical way of doing this.

Objective: Give students the tools they need to model an electro-mechanical system with several degrees of freedom.

Basics of mechanics, Basics of linear control (state representation of dynamic systems, PID regulation)

- Presentation of the Lagrange formalism and the concepts required for its implementation
- Implementation for the modeling of several real electro-mechanical systems
- Proposal of a control structure for each model obtained.

Automatic

Course handout. To go beyond the course content of the handout, please refer to the "Bibliography" section of the handout.