Course title
6M0006001
Advanced Mechatronics

 adachi yoshitaka Click to show questionnaire result at 2018
Course content
Mechatronics and robotics is often viewed from three perspectives: perception (sensing), manipulation (affecting changes in the world), and cognition (intelligence). Mechatronics and robotics systems integrate aspects of all three of these areas. This course provides an introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, and control.
Purpose of class
The purpose of this class is to master the principle for operating mechatronics machines, such as a robot arm and a robot hand.
Goals and objectives
  1. Students should able to understand (1)Dynamics, (2)Manipulability, (3)Position Control, (4)Force Control of robotics.
  2. Students should able to understand (1)analog circuit, (2)digital circuit.
  3. Students should able to understand hardware and software of an electronic computer.
  4. Students should able to understand an sensor integration.
  5. Students should able to understand an actuator of robot and mechatronics.
Language
Japanese
Class schedule

 Class schedule HW assignments (Including preparation and review of the class.) Amount of Time Required
1． Overview of Mechanisms and Controller Home work (Overview of Mechanisms and Controller) 190minutes
2． Kinematics(1)
(1) Position and Orientation of Objects
(2) Coordinate Transformation
(3) Joint Variables and Position of End Effector 		Home work (Kinematics(1)) 190minutes
3． Kinematics(2)
(4) Inverse Kinematics Problem
(5) Jacobian Matrix
(6) Statics and Jacobian Matrices 		Home work (Kinematics(2)) 190minutes
4． Dynamics(1)
(1) Lagrangian and Newton-Euler Formulations
(2) Some Basics of Kinematics
(3) Derivation of Dynamics Equations Based on Lagrangian Formulation 		Home work (Dynamics(1)) 190minutes
5． Dynamics(2)
(4) Derivation of Dynamic Equations Based on Newton-Euler Formulation
(5) Use of Dynamics Equations and Computational Load
(6) Identification of Manipulator Dynamics 		Home work (Dynamics(2)) 190minutes
6． Manipulability(1)
(1) Manipulability Ellipsoid and Manipulability Measure
(2) Best Configurations of Robotic Mechanisms from Manipulability Viewpoint 		Home work (Manipulability(1)) 190minutes
7． Manipulability(2)
(3) Various Indices of Manipulability
(4) Dynamic Manipulability 		Home work (Manipulability(2)) 190minutes
8． Position Control(1)
(1) Generatiftg a Desired Trajectory
(2) Linear Feedback Control
(3) Two-Stage Control by Linearization and Servo Compensation 		Home work (Position Control(1)) 190minutes
9． Position Control(2)
(4) Design and Evaluation of Servo Compensation
(5) Decoupling Control
(6) Adaptive Control 		Home work (Position Control(2)) 190minutes
10． Force Control(1)
(1) Impedance Control 		Home work (Force Control(1)) 190minutes
11． Force Control(2)
(2) Hybrid Control 		Home work (Force Control(2)) 190minutes
12． Control of Redundant Manipulators
(1) Redundant Manipulators
(2) Task-Decomposition Approach 		Home work (Control of Redundant Manipulators(1)) 190minutes
13． Control of Redundant Manipulators(2)
(3) Application to Avoiding Obstacles and Singularitie's
(4) Computational Method far Desired Joint Velocity 		Home work (Control of Redundant Manipulators(2)) 190minutes
14． Controller
(1) System Integration
(2) Microcomputer
(3) Interfaces
(4) Languages
(5) Operating Systems 		Home work (Controller) 190minutes
Total. - - 2660minutes
Relationship between 'Goals and Objectives' and 'Course Outcomes'

 Report1 Report2 Report3 Report4 Report5 Total.
1. 20% 0% 0% 0% 0% 20%
2. 0% 20% 0% 0% 0% 20%
3. 0% 0% 20% 0% 0% 20%
4. 0% 0% 0% 20% 0% 20%
5. 0% 0% 0% 0% 20% 20%
Total. 20% 20% 20% 20% 20% -
Evaluation method and criteria
Class attendance and participation in class discussion are must.
Five times of Report (20 % * 5 = 100 %).
The report shall be 60 % if reasonable or provide adequate ground are shown in it.
Textbooks and reference materials
Dr. Tsuneo Yoshikawa, Foundations of Robotics (MIT Press, 1990)
Prerequisites
Linear algebra, Differential and integral calculus, Basic electric circuit, Mechanism.
Office hours and How to contact professors for questions
  • After class 30 min.
Relation to the environment
Non-environment-related course
Regionally-oriented
Non-regionally-oriented course
Development of social and professional independence
  • Course that cultivates an ability for utilizing knowledge
  • Course that cultivates a basic problem-solving skills
Active-learning course
About half of the classes are interactive
Course by professor with work experience
Work experience Work experience and relevance to the course content if applicatable
Applicatable A teacher with practical experience at a car maker teaches the basics of advanced mechatronics based on R & D experience in control systems.
Last modified : Thu Mar 21 15:28:11 JST 2019