COOPERATIVE ROBOTIC SYSTEMS

Syllabus

Kinematics, dynamics, and control of the individual participating robotic systems. Cooperative Robotic Systems (CRS) comprising heterogeneous robots. Networks of sensors and actuators. Types of graphs determining the access to the measurable data and their impact on the control actions and the system’s efficient operation. Architecture of CRS: centralized systems and distributed systems. Matrix analysis of CRS graphs and Laplacian. Distributed controlled for CRS. Communications in CRS. Efficient information sharing in CRS. CRS in the framework of Industry 4.0. Cooperative multi‐robot systems constraint analysis (connectivity, force constraints and position constraints). Applications to cooperative 3D printing systems. CRS towards load manipulation and machining. Robotic works and robotic tasks in CRS (Scheduling, Planning, Programming and Software tools). Control and Programming of CRS tasks in the Game Theory framework.

Learning Outcomes

Aim of the course is to familiarize students with control tools for cooperative robotic systems, being comprised by groups of similar and/or different types of robots. Groups in various interconnection architectures and fields of application are studied in the framework of Industry 4.0. Emphasis is placed on 3d printing, manufacturing processes and load transfer applications. Upon successful completion of the course, students will be able to:

• Understand the principles of kinematic and dynamic analysis of cooperative robotic systems,
• Understand and compose architectural structures for information exchange and control of groups of cooperative robotic systems,
• Develop control software for the implementation of robotic works of autonomous robotic systems 
• Compose robotic works and schedule robotic tasks of cooperative robotic systems, using advanced control tools, and
• Control and schedule works of cooperative robotic systems, using tools of game theory.
   

For the outline of the course press here.