Cybathlon Challenge: Mechanism Design & Control
|Language of instruction||English|
|Position within curricula||See TUMonline|
- 19.10.2022 14:15-18:00 M001, Seminarraum
- 02.11.2022 14:15-18:00 L022, Campus D, Seminarraum
- 09.11.2022 14:15-18:00 L022, Campus D, Seminarraum
- 16.11.2022 14:15-18:00 L022, Campus D, Seminarraum
- 23.11.2022 14:15-18:00 L022, Campus D, Seminarraum
- 30.11.2022 14:15-18:00 L022, Campus D, Seminarraum
- 07.12.2022 14:15-18:00 L022, Campus D, Seminarraum
- 14.12.2022 14:15-18:00 L022, Campus D, Seminarraum
- 21.12.2022 14:15-18:00 L022, Campus D, Seminarraum
- 11.01.2023 14:15-18:00 L022, Campus D, Seminarraum
- 18.01.2023 14:15-18:00 L022, Campus D, Seminarraum
- 25.01.2023 14:15-18:00 L022, Campus D, Seminarraum
- 01.02.2023 14:15-18:00 L022, Campus D, Seminarraum
- 08.02.2023 14:15-18:00 L022, Campus D, Seminarraum
The students form competences depending on the thematic focus they have chosen. In the field of mechanical design, students are able to design mechatronic assemblies using the SolidWorks software program after successfully completing their studies. In the area of Modeling & Control students are able to design the components for static and dynamic load cases and to implement P-/PI-/PID-controllers in MATLAB / Simulink with sequential user control. In addition, students can read out and control sensors and actuators using a microcontroller. Also competences in the field of electronic circuit design are acquired and the handling of the PCB design program Eagle is learned. After successful completion, students are able to plan goal-oriented, coordinate and carry out the project in a team.
This laboratory concentrates on the development of basic mechatronic modules of a transradial prosthesis. Participants learn how to perform hardware and software prototyping from the ground up. In addition, they acquire knowledge in mechanical design, CAD modelling and component control with position controllers. In addition, the integration of sensors and actuators into a modern HIL software environment will be dealt with and the required electronic circuits are planned and implemented. Furthermore, the precise presentation of scientific results is taught and practiced with the students.
The students should have sound knowledge in at least one of the following fields: - Construction (CAD) - Basics of kinematics, statics and dynamics - Basics of Automatic Control - Programming (C,C++) - Microcontroller programming - PCB Design
Teaching and learning methods
- Introductory lectures - Independent student work - Team work (including supervised and unsupervised work in the laboratory)
In this laboratory course the students develop the fundamental mechatronic modules of a transradial prosthesis, which is developed under the requirements of the international competition Cybathlon, and have to prove their ability to put theory into practice in a team. The evaluation of the project work is determined by the final group prototype (80%) and the documentation (20%).
- Introduction to Robotics: Mechanics and Control, 3rd Edition, John J. Craig, Pearson - http://www.cybathlon.ethz.ch/ - Muzumdar, ‘Powered Upper Limb Prostheses: Control, Implementation and Clinical Application’, Springer Science & Business Media, 2004. - H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, S. Thrun, ‘Principles of Robot Motion: Theory, Algorithms, and Implementation’, MIT Press, 2005. - Siciliano, O. Khatib, ‘Springer Handbook of Robotics’, Springer, 2016. - M. W. Spong, S. Hutchinson, M. Vidyasagar, ‘Robot modeling and control’, vol. 3. New York: Wiley, 2006. - M. Bishop, ‘Neural networks for pattern recognition’, Oxford university press, 1995.