All lectures will take place in Regardz La Vie, Utrecht. Lecure hours are on 8 successive Mondays (September 7 till October 26) from 10:15-11:15 and 11:30-12:30. The overview below gives the detailed schedule for the topics addressed during these lectures. It includes references to the course material. Abbreviations are explained at the bottom.
Date, lecturer(s), topics
September 7, 2009
General overview and scope of this course
Some mathematical notations
DoM Chapter 2
Multibody versus finite element formulations
DoM Chapter 3 to 4.3.1
Slides DoM/4-14 and 22+23
Introduction SPACAR software 1 - Getting started
PM Chapter 1
September 14, 2009
Kinematic analysis of planar multibody systems
DoM Chapter 4, 5
Slides up to DoM/45
Introduction SPACAR software 2 - 2D kinematic analysis
PM Chapter 2
Exercise 1 (part 1/2) - Planar kinematic analysis
September 21, 2009
Dynamic analysis of planar multibody systems.
DoM Chapter 6
Introduction SPACAR software 3 - 2D dynamic analysis
PM Chapter 3
Exercise 1 (part 2/2) - Planar dynamic analysis
Hand in September 28, 2009
September 28, 2009
Spatial kinematics and dynamics of multibody systems.
DoM Chapter 9, 10
Introduction SPACAR software 3 - 3D robot with feedback control
PM Chapter 4
October 5, 2009
Linearization of equations of motion
DoM Chapter 12.1-12.5
- Derivation of the mass, damping and stiffness matrices
Efficient simulations with the perturbation method
DoM Chapter 12.6
Introduction SPACAR software 4 - 3D robot with feedback control (part 2)
SP Chapter 3.11, 3.12
Exercise 2 - Simulation of a manipulator with control using with non-linear linearized system equations
Hand in October 26, 2009
October 12, 2009
Input-output representation for control synthesis in multbody system dynamics
DoM Chapter 12.3
- Derivation of the system, input, output and direct feedthrough matrices
Derivation of transfer functions, pole-zero cancellation
October 19, 2009
Modelling for mechatronic design (part 1): Exact constraint design considerations and higher order dynamics
- SISO example of an active encoder head
Exercise 3 (part 1/2) - Example system (simple)
October 26, 2009
Modelling for mechatronic design (part 2): Control system synthesis
- MIMO example of a 2-DOF tilting mirror
Exercise 3 (part 2/2) - Example system (extended)
Hand in November 9, 2009
BJ = Prof. Jonker.
RA = Dr. Aarts.
JD = Dr. van Dijk.
CO = Course overview.
DoM = Lecture notes.
PM = Prototype modelling of mechanical systems.
SP = SPACAR manual.
LP-1 and LP-2 = papers on the perturbation method.
ES = (revisited) ECCOMAS conference paper.
M4M = paper on modelling and mechatronica design.
The exercises are included with the course material.
CO = Slides course overview, dr. Aarts, series 1
DoM = Slides prof. Jonker
SP= Slides about SPACAR, series i (i=1-5)
LP = Slides about the perturbation method, dr. Aarts.
ES = Slides about the derivation of transfer functions, dr. Aarts.
M4M = Slides about mechatronic design, dr. van Dijk.