The aim of this course is to learn fundamentals of kinematics, dynamics, and control for a multi-body system on a movable
base, such as space robot. In this course, the kinematic and dynamic difference between ground based robot and multi-body
system on a movable base are explained. Through the exercises in the course, methodology and skill to develop dynamic simulation
based on theoretical background are learned.
The aim of this course is to learn the fundamentals of kinematics, dynamics, and control for a multi-body system on a movable
base, such as space robot.
- Understand the difference between ground based robot and multi-body system on a movable base
- Can derive kinematic model of multi-body system on a movable base
- Can explain dynamic characteristics of free-flying robot system and general multi-body system on a movable robot
- Can develop and execute dynamic simulation of arbitrary multi-body system
| Class schedule | HW assignments (Including preparation and review of the class.) | Amount of Time Required | |
|---|---|---|---|
| 1． | Introduction of space robotics. What is difference from a ground based robot system? |
Survey space robot and their applications. | 60minutes |
| 2． | Position and orientation of a rigid body | Look up the expression of orientation | 60minutes |
| review expression of orientation and calculate arbitrary attitude expressions | 150minutes | ||
| 3． | Motion of a rigid body (1) | Survey mathematical expression of motion of a rigid body | 60minutes |
| review the motion of a rigid body, especially rotational motion of a rigid body | 150minutes | ||
| 4． | Motion of a rigid body (2) | Review motion of a rigid body (1) | 60minutes |
| Explain what the relationship between time-derivative of Euler angle and angular velocity. Explain what the singularity is in kinematics. | 150minutes | ||
| 5． | Dynamics of a rigid body | Survey mathematical expression of dynamics of a rigid body | 60minutes |
| Explain dynamics of a rigid body, especially Euler equation with respect to the base body | 150minutes | ||
| 6． | Dynamics of a rigid body with examples of satellite systems | Review dynamics of a rigid body | 60minutes |
| Explain what nutational motion is and why it happens. | 150minutes | ||
| 7． | Kinematics of a multi-body system on a movable base | Survey what the multi-body system is, and difference on multi-body system on a movable base | 60minutes |
| Explain how to design kinematic relationship of each link in a multi-body system on a fixed base case | 150minutes | ||
| 8． | Differential kinematics of a multi-body system on a movable base | Review kinematics of a multi-body system on a movable base | 60minutes |
| Explain how to design kinematic relationship of each link in a multi-body system on a movable base case | 150minutes | ||
| 9． | Dynamics of a multi-body system on a movable base- ex. space robot | Survey characteristics of dynamics of space robots | 60minutes |
| 10． | Dynamics of a multi-body system on a movable base-ex. vectored thrust UAV | Review dynamics of space robots, and consider the difference between space robot and vectored thrust UAV | 60minutes |
| Explain how to derive dynamic relationship of each link in a multi-body system on a movable base case and a mobable base | 150minutes | ||
| 11． | Control of a multi-body system on a movable base based on dynamics (1) | Survey control method based on dynamics | 60minutes |
| Explain end-effector control method under the condition of the base is movable. | 150minutes | ||
| 12． | Control of a multi-body system on a movable base based on dynamics (2) | Review control based on dynamics (1) | 60minutes |
| Explain simultaneous control of end-effector and base satellite under the condition of the base is movable. | 300minutes | ||
| 13． | Kalman filter (1) | Survey the role of filter and types of filters. | 60minutes |
| Explain what are key parameters in the designing of Kalman filter | 80minutes | ||
| 14． | Kalman filter (2) | Review Kalman filter (1) | 60minutes |
| Explain how effect the kalman filter is and explain what the extended kalman filter is | 80minutes | ||
| Total. | - | - | 2650minutes |
| short reports | final report | Total. | |
|---|---|---|---|
| 1. | 20% | 20% | |
| 2. | 20% | 20% | |
| 3. | 20% | 20% | |
| 4. | 40% | 40% | |
| Total. | 60% | 40% | - |
・Several short reports and final report.
・Over 60% is required to get a credit.
・Can derive kinematic model of multi-body system on a movable base, 60%
・Can explain dynamic characteristics of free-flying robot system and general multi-body system on a movable robot, 70%
・Can develop and execute dynamic simulation of arbitrary multi-body system, more than 80%
・Over 60% is required to get a credit.
・Can derive kinematic model of multi-body system on a movable base, 60%
・Can explain dynamic characteristics of free-flying robot system and general multi-body system on a movable robot, 70%
・Can develop and execute dynamic simulation of arbitrary multi-body system, more than 80%
・Necessary handouts are distributed in the class.
・Useful references are shown in the class.
・Useful references are shown in the class.
- Generally, feel free to ask any questions after the class
- Otherwise, please take an appointment by e-mail.
- Simple questions can be answered by e-mail.
- Course that cultivates a basic problem-solving skills
| Work experience | Work experience and relevance to the course content if applicatable |
|---|---|
| N/A | N/A |
Last modified : Thu May 30 04:22:03 JST 2019