| Course title | |||||
| ロボット工学 [Robotics] | |||||
| Course category | technology speciality courses,ets. | Requirement | Credit | 2 | |
| Department | Year | 3～4 | Semester | 1st | |
| Course type | 1st | 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 |
| 2/26/2019 8:51:11 PM |