Course title
1M516400,7M9906001
Space Robotics
Course content
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.
Purpose of class
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.
Goals and objectives
1. Understand the difference between ground based robot and multi-body system on a movable base
2. Can derive kinematic model of multi-body system on a movable base
3. Can explain dynamic characteristics of free-flying robot system and general multi-body system on a movable robot
4. Can develop and execute dynamic simulation of arbitrary multi-body system
Relationship between 'Goals and Objectives' and 'Course Outcomes'

short reports final report Total.
1. 20% 20%
2. 20% 20%
3. 20% 20%
4. 40% 40%
Total. 60% 40% -
Language
Japanese(English accepted)
Class schedule

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
Evaluation method and criteria
・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%
Feedback on exams, assignments, etc.
ways of feedback specific contents about "Other"
Feedback in the class
Textbooks and reference materials
・Necessary handouts are distributed in the class.
・Useful references are shown in the class.
Prerequisites
Preparation before each class is desirable.
Office hours and How to contact professors for questions
• 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.
Regionally-oriented
Non-regionally-oriented course
Development of social and professional independence
• Course that cultivates a basic problem-solving skills
Active-learning course
More than one class is interactive
Course by professor with work experience
Work experience Work experience and relevance to the course content if applicable
N/A N/A
Education related SDGs:the Sustainable Development Goals
• 4.QUALITY EDUCATION
• 12.RESPONSIBLE CONSUMPTION & PRODUCTION