Course title
Y0132070
Robotics

 shimada akira Click to show questionnaire result at 2017
Course description
Imagine 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.
Purpose of class
To master the basic teory related to robotics
Goals and objectives
  1. Be able to express position and orientation using homogenious transform
  2. Be able to derive Lagrange equation of motion
  3. Be able to design robot controller using MATLAB/Simulink
Language
Japanese
Class schedule

 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
Relationship between 'Goals and Objectives' and 'Course Outcomes'

 Problems Exam Total.
1. 10% 25% 35%
2. 10% 25% 35%
3. 10% 20% 30%
Total. 30% 70% -
Evaluation method and criteria
The evqluation is performed by periodic examination and some reports.
Textbooks and reference materials
Akira Shimada et.al: IEEJ EE-text Motio Control,Ohmu-sha
Prerequisites
It is desireable to have taken the classes of "Instruments and control" and "Mechatronics".
Office hours and How to contact professors for questions
  • it is desirable to make an appointment on Email<ashimada@sic.shibaura-it.ac.jp>
Relation to the environment
Environment-related course (10%)
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
Last modified : Wed Oct 17 07:27:33 JST 2018