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Simulation of mechanisms

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  • Lecturer: Sinan Haliyo (sinan.haliyo@sorbonne-universite.fr)
  • Course code: UM4RBR14
  • Student workload: 12h of lectures, h of tutorials, 16h of labs
  • Credits: 3 ECTS
  • Specialization tracks:
  • Semester offered: S1 S2 S3 S4
  • Language of instruction: French English
  • Targeted audience: Eng. Sc. department Other :
  • Localization : PMC Campus Other :

Course Overview

The aim of this course is to teach numerical simulation techniques for mechanical systems, for use in a robotic setting. In particular, we will see the methods of numerical resolution of equations of motion through temporal discretization techniques. In particular, ordinary differential equations will be studied using different integration techniques. These tools will be implemented to design the software architecture of an interactive simulation infrastructure using object programming approaches. From the modeling of a mechanical system, we will learn how to achieve its software implementation for interactive real-time use, capable of reproducing its behavior in a realistic way. This infrastructure will serve as a support for modeling simple robotic systems and synthesizing controllers.

Mots-clés : Mechanical modeling, dynamic interactive simulation, software architecture, object programming, graphical visualization, user interface

Prerequisites

Students should have previously acquired the following prerequisites to follow this course:

  • Programming base (python, objects)
  • Mechanical Modeling
  • Numerical methods

Intended Learning Outcomes

By the end of this course, students will be able to:

  1. Solving an EDO by discretization
  2. Design a software architecture for simulation
  3. Numerical implementation of mechanical models of robotic systems
  4. Programming of interactive event-based resolution loops
  5. Interpreting simulated behaviors of mechanical systems
  6. Synthesis, implementation, and validation of simple controllers

Indicative Teaching Sequence and Methods

Week C/TD/TP* Content Preparation Learn.\ outc.
S1 4H C Generality, reminder of numerical methods, mechanical modeling of robotic systems
S2 2H C + 2H TP Implementation of mathematical tools in software objects
S3 2H C + 2H TP Software architecture of a simulator
S4 2H C + 2H TP Interactive real-time simulation
S5 2H C + 2H TP Synthesis of controllers on simulation
S6 4H TP Validation on simple systems
S7 4H TP Implementation of a servo-controlled inverse pendulum
S8 4H Project Project
S9 4H Project Project
  • C/TD/TP respectively corresponds to lectures, tutorials and lab sessions.

Indicative Assessment of Intended Learning Outcomes (1st session)

Week Individ./group In-person/remote Type of exam Evaluated outcomes Scale %
S8 Individual In-person Written All 40%
S10 Individual In-person Practical All 60%

2nde session

Session Individ./group In-person/remote Type of exam Evaluated outcomes Scale %
2 Individual In-person Other All 100%

Logo SDI Date of generation of this unit description: 14/01/2026 Logo SDI