Teaching assistant: Yogesh Pratap Singh,
yogeshsingh iisc dot ac dot in
and Rakesh Kumar,
rakeshkumar2 iisc dot ac dot in
Lectures: Tuesday and Thursday, 10:00 AM - 11:30 AM;
on Online through on Microsoft Teams
Description
Credits: 3:0
Timings: Tuesday /Thursday (10 am to 11.30 am)
This is a core course for M Tech course students. The course is intended to
introduce kinematics and dynamics of rigid body and multi-body systems
undergoing 3D motions and feedback control of mechanical systems.
The first part of the course starts with representation of rigid bodies in
3D, its position and orientation using rotation matrices, Euler angles and
other techniques. The concept of multi-body systems, degrees of freedom,
holonomic and non-holonomic constraints and representation of a multi-body
system using generalized coordinates are covered. The concept of linear and
angular velocities and accelerations of a rigid body as a single entity and
as a part of a multi-body system is covered. External forces in multi-body
systems due to gravity, damping, spring and actuators are introduced and
equations of motion of rigid and multi-body systems are formulated using
Newton-Euler and Lagrangian formulations. Equations of motion of linkages
and robotic manipulators are derived and approaches to solve them
numerically are presented. The
second part is devoted to feedback control of dynamic systems. It is
restricted to linear systems and their modeling and control. It starts with
classical control using root locus and frequency domain analysis tools of
Bode and Nyquist plots. Time domain state-space based design and analysis of
control systems is also introduced, and key concepts of stability,
controllability and observability of linear dynamical systems are covered in
detail.
The course uses Matlab and other computational tools for dynamic and control
system analysis and design.
Outcomes
At the end of the course, the student is expected to have a good
understanding of the following concepts: rotation matrices, Euler angles,
Newton-Euler equations, dynamics of rigid bodies such as tops, gyroscopes
and robotic manipulators, Lagrangian formalism, importance of feedback
control, classical control design in the frequency domain, modern control
design in the time domain using state-space based system representation. A
student on completion of this course will be able to derive equations of
motions of rigid multi-body mechanical systems, solve them using Matlab and
be exposed to commercial packages for modeling and simulation of rigid
multi-body systems. The student should be able to model and analyze feedback
controlled dynamical system using tools in Matlab. This course will help the
student to take advanced courses in nonlinear dynamics and control, robotics
and mechatronic system.
