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.
In order to develop a robot, it is necessary to master basic theory, which is equivalent to the four arithmetic operations
of elementary school students. No matter how wonderful a robot is imagined, it cannot be realized without the fundamentals.
The purpose of this lecture is to help students master the fundamentals.
- Can represent position and orientation using rotation and homogeneous transformation matrices.
- Can derive Lagrange's equations of motion
- Able to design robot control systems using MATLAB/Simulink.
| Problems | Total. | |
|---|---|---|
| 1. | 30% | 30% |
| 2. | 30% | 30% |
| 3. | 40% | 40% |
| Total. | 100% | - |
| Class schedule | HW assignments (Including preparation and review of the class.) | Amount of Time Required | |
|---|---|---|---|
| 1. | Robot Components and the Need for Basic Theory And learn about rotation matrices |
Investigate the meaning of robotics | 60minutes |
| Solve and submit the homework on rotation matrices using MATLAB. | 90minutes | ||
| 2. | Robot degrees of freedom, position, and orientation Learn coordinate systems and homogeneous transformation matrices |
Investigate position, posture, and degrees of freedom. | 60minutes |
| Solve and submit the homework on homogeneous matrices using MATLAB. | 90minutes | ||
| 3. | Forward kinematics and DH parameters of manipulators | Investigate the forward kinematics. | 60minutes |
| Solve and submit a kinematics calculation homework using MATLAB. | 90minutes | ||
| 4. | Manipulators and Kinematics: Learn Inverse Kinematics and How to Calculate It | Examine the difference between kinematics and equations of motion. | 90minutes |
| Solve and submit the inverse kinematics calculation homework using MATLAB. | 90minutes | ||
| 5. | Inverse kinematics of robots | Investigate of the difference of kinematics and dynamics. | 90minutes |
| Perform and submit the homework using MATLAB. | 90minutes | ||
| 6. | Equations of motion and simulation of robot manipulators | Read chapter 5 of the textbook on Lagrange's equations of motion. | 90minutes |
| Derive the equations of motion and solve and submit a computational task using MATLAB. | 90minutes | ||
| 7. | Equations of motion and simulation of robot manipulator considering motor and reduction gear | Read chapters 3 and 5 of the textbook on motors and reduction gears. | 90minutes |
| Perform and submit the homework using Simulink. | 100minutes | ||
| 8. | Manipulator joint angle control and simulation | Investigate multi-degree-of-freedom control systems. | 90minutes |
| Perform and submit the homework using Simulink. | 120minutes | ||
| 9. | Learn how to generate target trajectories | Examine the difference between orbits and trajectories. | 90minutes |
| Perform and submitthe homework using Simulink. | 120minutes | ||
| 10. | Learn how to generate target trajectories for articulated manipulators | Consider the conditions under which multiple joints reach the target angle simultaneously. | 90minutes |
| Solve and submit the computational homework using MATLAB. | 120minutes | ||
| 11. | Integration of robot target trajectory generation and joint angle control system | Examine how to use target trajectory data as a reference value for the control system. | 90minutes |
| Perform and submit the homework using Simulink. | 120minutes | ||
| 12. | Jacobi Matrix and Robot Force Control | Find out what a Jacobi matrix is. | 90minutes |
| Perform and submit the homework using Simulink. | 120minutes | ||
| 13. | Mechanical Impedance Control and Bilateral Control of Robots | Mechanical impedance control and bilateral control should be investigated. | 90minutes |
| Perform and submit the homework using Simulink. | 120minutes | ||
| 14. | Learn SLAM | Find out what SLAM is. | 240minutes |
| Total. | - | - | 2680minutes |
The average score of the evaluation results of the handwritten calculation assignment or MATLAB/Simulation simulation program
for each lecture will be used.
For the example of the 60-point level, the average score of the assignment will be used.
For the example of the 60-point level, the average score of the assignment will be used.
| ways of feedback | specific contents about "Other" |
|---|---|
| 授業内と授業外でフィードバックを行います。 | 課題に対するコメントと解説。 |
Preferably have taken Basic Mechanics, Control Engineering, and Motion Control.
The software MATLAB/Simulink will be used very often.
The software MATLAB/Simulink will be used very often.
- Based on Thurs lunch break. Contact by email.
- 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 | He has 18 years of experience as a corporate control engineer in the development of industrial robots and other products. |
- 4.QUALITY EDUCATION
- 7.AFFORDABLE AND CLEAN ENERGY
- 9.INDUSTRY, INNOVATION AND INFRASTRUCTURE
- 11.SUSTAINABLE CITIES AND COMMUNITIES
- 12.RESPONSIBLE CONSUMPTION & PRODUCTION
Last modified : Tue Sep 17 18:17:55 JST 2024