MPŠ MP&Scaron MP&Scaron MP&Scaron Avtorji

Jo˛ef Stefan
Postgraduate School

Jamova 39
SI-1000 Ljubljana

Phone: +386 1 477 31 00
Fax: +386 1 477 31 10


Course Description

Control, Modelling and Simulation of Robotic Systems


Information and Communication Technologies, second-level study programme


doc. dr. Leon Žlajpah


The objective of this course is to gain basic theoretical and practical knowledge in the field of modeling, simulation and control of robot systems.
Students will learn how to use simulation tools. They will become familiar with the simulation tools and modelling methods of robot systems and will learn how to use simulation for the robot motion planning and the design of robot control systems. They will use these techniques on real robots.
Students will gain the basic theoretical and practical knowledge of robot control systems at different levels and their implementation on real robots. They will learn how to include different sensors systems in robot control system.
The students will be qualified to understand modern robots systems.
The gained knowledge will allow the use of scientific methods for solving the complex scientific and research tasks, to guide R&D projects, and also to develop and use the contemporary robot based production technologies with the goal to modernize the production, to increase the quality and the productivity.


Introduction: system modelling and simulation
Modern modelling and simulation tools, modelling and simulation of dynamic systems, real-time simulation, visualization and virtual reality, MATLAB/SIMULINK simulation tools.

Modelling and simulation of robot mechanisms:
Historical view of simulation in robotics. Simulation in different fields of robotics. Simulation of robot manipulators in MATLAB/Simulink. Simulation and visualization of robot systems using general dynamic engines and graphic languages.

Integrated environment for dynamic simulation of robot manipulators:
Structure and interfaces, manipulator-in-the-loop simulation, simulation examples.

Robot control systems:
Trajectory planning, position and velocity control, force control, joint space and task space control, optimal control.

Control of redundant robot systems:
Task decomposition, redundancy resolution, obstacle avoidance.

Course literature:

Selected chapters from the following books:

• L. Sciavicco and B. Siciliano. Robotics: Modelling, Planning and Control, Springer-Verlag, London, UK, 2009, ISBN: 978-1-84628-641-4.
• T. Bajd, M. Mihelj, J. Lenarcic, A. Stanovnik and M. Munih, Robotics (Series: Intelligent Systems, Control and Automation: Science and Engineering), Springer, 2010, ISBN 978-90-481-3775-6
• J. Lenarčič, T. Bajd Bajd and M.M. Stanišić. Robot Mechanisms, Springer Netherlands, 2013, ISBN: 978-94-007-4522-3
• P. Corke, Robotics, Vision and Control, Springer-Verlag Berlin Heidelberg, 2011, ISBN: 978-3642201431
• The MathWorks: MATLAB The Language of Technical Computation: Getting Started with MATLAB, Natick, 1984-2015.
• The MathWorks: SIMULINK Dynamic System Simulation for MATLAB, Natick, 1990-2015.

Significant publications and references:

• T. Petrič, A. Gams, A.J. Ijspeert, and L. Žlajpah. “On-line frequency adaptation and movement imitation for rhythmic robotic tasks”. The international journal of robotics research, vol. 30, no. 14, pp 1775-1788, 2011.
• T. Petrič, A. Gams, J. Babič, and L. Žlajpah. “Reflexive stability control framework for humanoid robots”. Autonomous robots, vol. 34, no. 4, pp. 347-361, 2013.
• L. Žlajpah. “Multi-task control for redundant robots using prioritized damped least-squares inverse kinematics”. In: 22nd International Workshop on Robotics in Alpe-Adria-Danube Region, September 11-13, Portorož, Slovenia, pp. 311-318, 2013.
• L. Žlajpah. ”Robot simulation for control design”. In: A. Jimenéz, B.M. Al Hadithi. (Eds.). Robot manipulators trends and development. Vukovar: InTech, pp. 34-72, 2010.
• L. Žlajpah, and T. Petrič. “Obstacle avoidance for redundant manipulators as control problem”. In: S. Küēük (Ed.). Serial and parallel robot manipulators - kinematics, dynamics, control and optimization. Rijeka: InTech, pp. 203-230, 2012.
• T. Petrič, A. Gams, N. Likar, and L. Žlajpah. “Obstacle avoidance with industrial robots”. In: G. Carbone, F. Gomez-Barvo (Eds.). Motion and operation planning of robotic systems : background and practical approaches, (Mechanisms and machine science, 29). Springer, pp. 113-146, 2015.


Seminar work (50%)
Oral exam (50%)

Students obligations:

Seminar work and oral exam.