This course is about presenting the different aspects and components of robotic solutions in industry. The hardware aspects such as actuator, sensors, links and joints are presented. The terminology and methodology used in robotics are presented as well, where the kinematics and its modeling based on D-H convention is used.

In this course, different robotics modeling (Kinematic, differential and dynamic) are presented and treated according to a given application. Then the trajectory generation is addressed in joint and Cartesian spaces according to constraints of a given application. Different robotic control law are presented and analyzed by taking in consideration the above-mentioned considered space (Joint PID, Joint calculated torque, Cartesian PID, Cartesian calculated torque).

The engineering systems design results from the integration of different components. Depending on our interest or not to the transient response, they can be modeled by continuous-time models or discrete events models (switch model). The development, analysis and control of dynamical systems require to implement numerical simulation methods and tools. The objective of this course is to introduce the continuous-time simulation concepts and to implement a system simulation on a temporal simulation software (Matlab/Simulink) that includes a continuous-time and discrete-event models.

• systems: Wind turbine, jack system,....

• differenial equations / Laplace transfrom / fonctionnal scheme

• step response : first order, 2nd order, higher order

• Stability analysis (Poles, Routh)

• Frequency analysis, Bode response

• Real systems (heat, inverted pendulum, hydraulic)

• Model identification techniques

• PID control

• Closed-loop stability analysis