Topics in Life Support Robot System

Course title

6M010710

Course content

・近年、様々な分野でロボットが活用され、福祉や医療分野においてもロボットなどが導入される事例が増えています。
・本講義ではロボットマニピュレータを用いて物体の搬送等を行うことを想定し，その制御を行うための基礎知識の学習と制御手法を学習します。
・講義内では実際にPythonでプログラムを作成します．

Purpose of class

・本講義では，はロボットマニピュレータを用いて物体の搬送等を行うことを想定し，その制御を行うための基礎知識とその制御手法の習得を目的とします。

Goals and objectives

Pythonを用いて行列やベクトルの演算ができる。
2次元空間内における座標計算の処理を行うことができる。
3次元空間内における座標計算の処理を行うことができる。
3次元空間内における回転の組み合わせの処理を行うことができる．
ロボットマニピュレータの順運動学と逆運動学の処理を行うことができる．

Language

Japanese

Class schedule

	Class schedule	HW assignments (Including preparation and review of the class.)	Amount of Time Required
1．	Introduction to the lecture. Introduction to the python programming.	Study about programming Python	80minutes
1．		Study about programming Python	120minutes
2．	Rotation matrix and vector in 2D	Download lecture handouts before the lecture. Prepare for lecture items.	80minutes
2．	Rotation matrix and vector in 2D	Review the items in the handouts.	80minutes
3．	Rotation matrix and vector in 3D	Download lecture handouts before the lecture. Prepare for lecture items.	80minutes
3．	Rotation matrix and vector in 3D	Review the items in the handouts.	80minutes
4．	Combination Rotation matrix and translation in 3D	Download lecture handouts before the lecture. Prepare for lecture items.	80minutes
4．	Combination Rotation matrix and translation in 3D	Review the items in the handouts.	80minutes
5．	Forward kinematics of robot manipulator	Download lecture handouts before the lecture. Prepare for lecture items.	80minutes
5．	Forward kinematics of robot manipulator	Review the items in the handouts.	80minutes
6．	Inverse kinematics of robot manipulator	Download lecture handouts before the lecture. Prepare for lecture items.	80minutes
6．	Inverse kinematics of robot manipulator	Review the items in the handouts.	80minutes
7．	Practical control of robot manipulator.	Download lecture handouts before the lecture. Prepare for lecture items.	80minutes
7．	Practical control of robot manipulator.	Review the items in the handouts.	80minutes
8．	No lectures	No lectures	0minutes
9．	No lectures	No lectures	0minutes
10．	No lectures	No lectures	0minutes
11．	No lectures	No lectures	0minutes
12．	No lectures	No lectures	0minutes
13．	No lectures	No lectures	0minutes
14．	No lectures	No lectures	0minutes
Total.	-	-	1160minutes

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

	Report	Total.
1.	20%	20%
2.	20%	20%
3.	20%	20%
4.	20%	20%
5.	20%	20%
Total.	100%	-

Evaluation method and criteria

・Evaluation is based on the score of all reports.
・Submit all reports.

Textbooks and reference materials

No textbook, but lecture notes are supplied in each lectures.

Prerequisites

Please be ready for the Python program before the lecture.

Office hours and How to contact professors for questions

Office hour：Wednesday 9:00-10:40
Send me an e-mail, if you have any questions.

Regionally-oriented

Non-regionally-oriented course

Development of social and professional independence

Course that cultivates an ability for utilizing knowledge

Active-learning course

Most classes are interactive

Course by professor with work experience

Work experience	Work experience and relevance to the course content if applicable
N/A	Not applicable

Education related SDGs:the Sustainable Development Goals

4.QUALITY EDUCATION
9.INDUSTRY, INNOVATION AND INFRASTRUCTURE

Last modified : Fri Mar 18 21:58:13 JST 2022