| Course title | |||||
| ロボット工学 [Robotics] | |||||
| Course category | technology speciality courses | Requirement | Credit | 2 | |
| Department | Year | 3～4 | Semester | 1st | |
| Course type | 1st | Course code | 023576 | ||
| Instructor(s) | |||||
| Venture Gentiane [VENTURE Gentiane] | |||||
| Facility affiliation | Institute of Global Innovation Research | Office | afjgxte/L1151 | Email address | |
| Course description |
|
This course is an 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: qq7p6jo |
| 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: 1. What is a robot 2. Robot's sensors and actuators 3. Robot arm mechanism and kinematics（１ transformation matrices） 4. Robot arm mechanism and kinematics（２ end-effector position and orientation） 5. Robot arm mechanism and kinematics（３ velocity and acceleration analysis） 6. Robot arm mechanism and kinematics（４ still dynamics） 7. Test 8. Robot arm dynamics Lagrange method 9. Robot arm dynamics Newton Euler method 10. Robot arm dynamics Forward dynamics 11. Robot identification Calibration 12. Robot identification Dynamics identification 13. Robot position control and trajectory control 14. Robot force control 15. Final test |
| Prerequisites |
| Linear algebra, differential equation, mechanics |
| Required Text(s) and Materials |
|
Fundamentals of Robotics by Haruhisa Kawasaki (3rd edition) In Japanese. Any text book of introduction to robotics can work |
| 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 |
| Every Tuesday from 18:00 to 19:00 online in the same Googlemeet as the class |
| Remarks 1 |
| Remarks 2 |
| Related URL |
| Lecture Language |
| Japanese |
| Language Subject |
| Last update |
| 4/6/2021 7:17:55 PM |