Robotics |
IKEMATA, Yoshito |
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【Mechanical and Precision System･2nd semester】
19-1-0224-3199 |
| １． |
Outline |
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In this course, students will learn the basics of robotics: mechanism, sensor, actuator, and kinematics. In addition, the latest robots will be introduced. (Related to DP2 and DP4)
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| ２． |
Objectives |
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The aim of this course is to learn the basics of robotics, particularly the kinematics.
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| ３． |
Grading Policy |
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Reports (20%) and final examination (80%)
Answer of reports will be explained in next lecture.
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| ４． |
Textbook and Reference |
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No textbook.
Reference book: Japanese book (ISBN: 978-4627913820)
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| ５． |
Requirements (Assignments) |
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Teaching materials will be shown on LMS. Student must prepare for next lecture by using it (1.5 hours).
Student must summarize what you learned in lecture (1.5 hours).
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| ６． |
Note |
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| ７． |
Schedule |
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１. Introduction
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２. Robot sensor 1: Robot control and sensor
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３. Robot sensor 2: rotary angle sensors
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４. Robot sensor 3: Force sensors
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５. Robot sensor 4: gyro/acceleration sensors
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６. Robot actuator 1: classification and comparison of actuators
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７. Robot actuator 2: DC motor
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８. Robot actuator 3: gear reducer
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９. Robot actuator 4: other actuators
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10. Robot kinematics 1: mechanism of robot arm
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11. Robot kinematics 2: Forward kinematics
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12. Robot kinematics 3: Inverse kinematics
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13. Robot kinematics 4: Jacobian matrix and singularity
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14. Recent Topics
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15. Final examination and summary
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|
| １． |
Outline |
|
In this course, students will learn the basics of robotics: mechanism, sensor, actuator, and kinematics. In addition, the latest robots will be introduced. (Related to DP2 and DP4)
|
| ２． |
Objectives |
|
The aim of this course is to learn the basics of robotics, particularly the kinematics.
|
| ３． |
Grading Policy |
|
Reports (20%) and final examination (80%)
Answer of reports will be explained in next lecture.
|
| ４． |
Textbook and Reference |
|
No textbook.
Reference book: Japanese book (ISBN: 978-4627913820)
|
| ５． |
Requirements (Assignments) |
|
Teaching materials will be shown on LMS. Student must prepare for next lecture by using it (1.5 hours).
Student must summarize what you learned in lecture (1.5 hours).
|
| ６． |
Note |
|
|
| ７． |
Schedule |
|
１. Introduction
|
２. Robot sensor 1: Robot control and sensor
|
３. Robot sensor 2: rotary angle sensors
|
４. Robot sensor 3: Force sensors
|
５. Robot sensor 4: gyro/acceleration sensors
|
６. Robot actuator 1: classification and comparison of actuators
|
７. Robot actuator 2: DC motor
|
８. Robot actuator 3: gear reducer
|
９. Robot actuator 4: other actuators
|
10. Robot kinematics 1: mechanism of robot arm
|
11. Robot kinematics 2: Forward kinematics
|
12. Robot kinematics 3: Inverse kinematics
|
13. Robot kinematics 4: Jacobian matrix and singularity
|
14. Recent Topics
|
15. Final examination and summary
|
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