Robotics
TeachersIKEMATA, YoshitoStaffInfo
Grade, SemesterYear 3 2nd semest [Department of Mechanical and Precision System, Faculty of Science and Engineering]
CategoryBasic Major Subjects
Elective, CreditsElective Requisites 2credit
 Syllabus Number1H305

Course Description

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)

Course Objectives

The aim of this course is to learn the basics of robotics, particularly the kinematics.

Grading Policy

Reports (20%) and final examination (80%)
Answer of reports will be explained in next lecture.

Textbook and Reference

KindTitleAuthorPublisher
Textbook

ReferencesJapanese book (ISBN: 978-4627913820)

Requirements(Assignments)

Teaching materials will be shown on LMS. Student must prepare for next lecture by it (1.5 hours).

Note

Schedule

1Introduction
2Robot sensor 1: Robot control and sensor
3Robot sensor 2: rotary angle sensors
4Robot sensor 3: Force sensors
5Robot sensor 4: gyro/acceleration sensors
6Robot actuator 1: classification and comparison of actuators
7Robot actuator 2: DC motor
8Robot actuator 3: gear reducer
9Robot actuator 4: other actuators
10Robot kinematics 1: mechanism of robot arm
11Robot kinematics 2: Forward kinematics
12Robot kinematics 3: Inverse kinematics
13Robot kinematics 4: Jacobian matrix and singularity
14Recent Topics
15Final examination and summary