Robot Engineering |
IKEMATA, Yoshito |
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【Master's program･2nd semester】
19-3-1553-3199 |
| １． |
Outline |
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In this course, students will learn the basics of robotics: mechanism, kinematics, and dynamics. In addition, the latest robots will be introduced (Related to DP1).
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| ２． |
Objectives |
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The aim of this course is to learn the technologies of robotics, particularly kinematics and dynamics.
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| ３． |
Grading Policy |
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Grading is determined comprehensively with the final examination (or report).
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| ４． |
Textbook and Reference |
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No textbook specified.
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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).
|
| ６． |
Note |
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| ７． |
Schedule |
|
| １. Introduction |
| ２. Kinematics: Mechanism of robot arm |
| ３. Kinematics: Coordinate transformation |
| ４. Kinematics: Link coordinate system |
| ５. Kinematics: Forward kinematics |
| ６. Kinematics: Jacobian matrix |
| ７. Kinematics: Singularity of a manipulator |
| ８. Statics |
| ９. Dynamics: Newton-Euler method |
| 10. Dynamics: Lagrangian method |
| 11. Dynamics Simulation |
| 12. Control: Modeling |
| 13. Control: Transfer Function |
| 14. Control: Feedback control |
| 15. Summary lecture |
|
| １． |
Outline |
|
In this course, students will learn the basics of robotics: mechanism, kinematics, and dynamics. In addition, the latest robots will be introduced (Related to DP1).
|
| ２． |
Objectives |
|
The aim of this course is to learn the technologies of robotics, particularly kinematics and dynamics.
|
| ３． |
Grading Policy |
|
Grading is determined comprehensively with the final examination (or report).
|
| ４． |
Textbook and Reference |
|
No textbook specified.
|
| 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. Kinematics: Mechanism of robot arm |
| ３. Kinematics: Coordinate transformation |
| ４. Kinematics: Link coordinate system |
| ５. Kinematics: Forward kinematics |
| ６. Kinematics: Jacobian matrix |
| ７. Kinematics: Singularity of a manipulator |
| ８. Statics |
| ９. Dynamics: Newton-Euler method |
| 10. Dynamics: Lagrangian method |
| 11. Dynamics Simulation |
| 12. Control: Modeling |
| 13. Control: Transfer Function |
| 14. Control: Feedback control |
| 15. Summary lecture |
|
|