Course title
ロボット工学   [Robotics]
Course category technology speciality courses,ets.  Requirement   Credit 2 
Department   Year 34  Semester Spring 
Course type Spring  Course code 023528
Instructor(s)
遠山 茂樹, Venture Gentiane   [TOYAMA Shigeki, VENTURE Gentiane]
Facility affiliation Institute of Global Innovation Research Office   Email address

Course description
This course is the introduction to robotics.
What is a robot, how to describe it, how to make it move and how to control it?
Expected Learning
In this course you will learn the basic knowledge in robotics such as geometric, kinematic and dynamics modeling. How to define a trajectory in the joint space and in the task space. And how to control a robot.
Example and demonstrations will also be part of the course.
Course schedule
The course will cover the following topics:
Class 1

introduction to robotics in general
introduction to how to solve the main problems in robotics
the basic math: vector product, cross product
rotation matrices: start with 2x2 then move to 3x3
translation
composition of transformation
tutorial/homework a few cross product, a few transformation matrices

Class 2

homework solution
basic robotics joints/link to the basic transformation
homogenous transfortmation matrix
tutorial/homework a few transformation matrices

Class 3
DH parameters
tutorial/homework DH parameters of a few robots

Class 4
homework solution
forward geometric model
tutorial/homework a few FG


Class 5
inverse geometric model
Jacobian matrix
Velocity analysis
tutorial/homework a few velocity analysis

Class 6
Midterm test

Class 7
Midterm solution
forward kinematic model
tutorial/homework a few Jacobian and FK


Class 8
inverse kinematics model example and applications
derivative of the FK
tutorial/homework compute IK for simple systems, and derivative of FK

Class 9
homework solution
force transmission, the other use of the Jacobian
tutorial/homework compute force transmission for given texternal forces/moment

Class 10
dynamic model introduction
tensor of inertia
equation of motion 6DoF
tutorial/homework compute tensor of inertia for simple shapes


Class 11
homework solution
Lagrange


Class 12
Newton-Euler
tutorial/homework compute ID for simple systems

Class 13
homework solution
robot control introduction: joint space, task space, velocity control, acceleration control, force control

Class 14
Real robot demonstration on the stage

Class 15
Final test
Prerequisites
Linear algebra, differential equation, mechanics
Required Text(s) and Materials
no text book required
References
Any introduction to robotics text book
Assessment/Grading
Home work, participation and mid-term and final exams
Message from instructor(s)
Course keywords
Robotics, kinematics, dynamics, control
Office hours
Remarks 1
Remarks 2
Related URL
Lecture Language
Japanese
Language Subject
Last update
9/11/2018 5:03:41 PM