| Teachers | IKEMATA, Yoshito | |
|---|---|---|
| Grade, Semester | Year 1 2nd semest [Master's program, Division of Integrated Science and Engineering] | |
| Category | Special Subjects | |
| Elective, Credits | Elective 2credit | |
| Syllabus Number | ||
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).
The aim of this course is to learn the technologies of robotics, particularly kinematics and dynamics.
Grading is determined comprehensively with the final examination (or report).
| Kind | Title | Author | Publisher |
|---|---|---|---|
| Textbook | |||
| References |
Teaching materials will be shown on LMS. Student must prepare for next lecture by it (1.5 hours).
| 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 |
