Dynamics and Control of Mechanical Systems
Online
12 WeeksQuick Facts
| Medium Of Instructions | Mode Of Learning | Mode Of Delivery |
|---|---|---|
| English | Self Study | Video and Text Based |
Courses and Certificate Fees
| Fees Informations | Certificate Availability | Certificate Providing Authority |
|---|---|---|
| INR 1000 | yes | Ahmedabad University |
The Syllabus
- Rigid body and coordinate systems, position and orientation, rotation matrices and their properties, Euler angles, quaternions, homogeneous transformation matrices and their properties, examples
- Linear and angular velocity of a rigid body, skew symmetric angular velocity matrix, space fixed and body fixed angular velocity, linear and angular acceleration, Coriolis/centripetal acceleration, velocities and accelerations in terms of Euler angles/quaternions, examples
- Joints in multi-body systems, joint variables, Degree-of-freedom and constraints due to a joint and in multi-body systems, holonomic and non-holonomic constraints, velocity and acceleration of rigid bodies in a multi-body system, alternate system of coordinates and resulting constraints, examples
- Mass and inertia of a rigid body, Properties of inertia matrix, external forces and moments acting on a rigid body -- gravity, friction, actuator torque/forces, angular momentum – example of spinning top and gyroscope.
- Free-body diagram, Newton-Euler formulation and equations of motion, Introduction to recursive formulations, examples.
- Equations of motion using Lagrangian formulation – rolling of a thin disk in 3D, two link robot and 4-bar mechanism, solution of equations of motion in Matlab, comparison between Newton-Euler and Lagrangian formulation.
- Modeling and simulation of multi-body systems using computer tools, examples using Simscape.
- Linearization of equations of motion, state space formulation, state variables, solution of state equations
- Stability, controllability and observability in SISO systems, examples
- Root locus and Bode plots, relationships between classical and state space approaches
- Design of controllers using state space and root locus.
- Case studies in modeling and control – planar robot, pendulum on a cart, stabilization using gyroscope etc.
Instructors
Articles
4 Apr'25, 08:40 AM
24 Jan'25, 12:14 PM
4 Apr'25, 08:40 AM
24 Jan'25, 12:14 PM