| 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) | |||||
| Venture Gentiane [VENTURE Gentiane] | |||||
| Facility affiliation | Institute of Global Innovation Research | Office | afjgxte/L1151 | 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? The class is using Google classroom and Google Hangouts. Please join the class for updates and further information with the Google classroom code: vfszrhr |
| 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 |
| 4/6/2020 6:16:32 PM |