Suppose that you make a machine whose shape is similar to human or animals. Moreover, motors, sensors, and controller are
connected to each other. Is it robot? It looks a robot but it may not be useful. Why not? Next, imagine a problem that you
move a hand of robot to desired position. Where is the desired position placed from the base of the foot of robot? To solve
these problems, you need the knowledge of basic robotics.
- Be able to express position and orientation using homogenious transform
- Be able to derive Lagrange equation of motion
- Be able to design robot controller using MATLAB/Simulink
| Class schedule | HW assignments (Including preparation and review of the class.) | Amount of Time Required | |
|---|---|---|---|
| 1. | Guidance: Basic structure of robot and basic theory of robotics | Investigate the meaning of robotics | 60minutes |
| Review the problem and submit it. | 90minutes | ||
| 2. | Mechanical structure of robots and degrees of freedom | Investigate the word "degrees of freedom". | 60minutes |
| Review the problem and submit it. | 90minutes | ||
| 3. | Position and orientation:Coordinate system and homogenious transform | Investigate the meaning of rotation matrix | 60minutes |
| Review the problem and submit it. | 90minutes | ||
| 4. | Forward kinematics of robots | Investigate the mianing of kinematics. | 90minutes |
| Review the problem and submit it. | 90minutes | ||
| 5. | Inverse kinematics of robots | Investigate of the difference of kinematics and dynamics. | 90minutes |
| Review the problem and submit it. | 90minutes | ||
| 6. | Jacobian matrix | Investigate the meaning of jacobian matrix. | 90minutes |
| Review the problem and submit it. | 90minutes | ||
| 7. | Lagrange equation of motion | Read the textbook with respect to lagrange equatio of motion. | 90minutes |
| Review the problem and submit it. | 100minutes | ||
| 8. | Lagrange unknown multiplier | Investigate the meaning of unknown multiplier。 | 90minutes |
| Review the problem and submit it. | 120minutes | ||
| 9. | Equation of motion of robots | Investigate the basic teory of robot dynamics. | 90minutes |
| Review the problem and submit it. | 120minutes | ||
| 10. | Equation of motion considering actuators | Investigate the difference between actuator considereation and non-consideration. | 90minutes |
| Review the problem and submit it. | 120minutes | ||
| 11. | Trajectory generation of robots | Investiagte the difference between trajectory and locus. | 90minutes |
| Review the problem and submit it. | 120minutes | ||
| 12. | Robot control | Investigate Lyapnov function | 90minutes |
| Review the problem and submit it. | 120minutes | ||
| 13. | Force control of robots | Think of the mening of force control. | 90minutes |
| Review the problem and submit it. | 120minutes | ||
| 14. | Examination and summary | Summarize all of contents of the learned robotics. | 240minutes |
| Total. | - | - | 2680minutes |
| Problems | Total. | |
|---|---|---|
| 1. | 30% | 30% |
| 2. | 30% | 30% |
| 3. | 40% | 40% |
| Total. | 100% | - |
The evqluation is performed by periodic examination and some reports.
It is desireable to have taken the classes of "Instruments and control" and "Mechatronics".
- Basically tuesday aftewrnoon. But it is desirable to make an appointment on Email<ashimada@sic.shibaura-it.ac.jp>
- Course that cultivates an ability for utilizing knowledge
- Course that cultivates a basic problem-solving skills
| Work experience | Work experience and relevance to the course content if applicable |
|---|---|
| Applicable | Experience of development of robot controller. |
- 4.QUALITY EDUCATION
- 7.AFFORDABLE AND CLEAN ENERGY
- 9.INDUSTRY, INNOVATION AND INFRASTRUCTURE
Last modified : Sat Apr 09 04:04:47 JST 2022