Robot Control
TeachersFUKUSHIMA YUTAStaffInfo
Grade, SemesterYear 3 2nd semest [Department of Information and Electronic Engineering, Faculty of Science and Engineering]
CategorySpecial Subjects
Elective, CreditsElective 2credit
 Syllabus Number3E333

Course Description

We learn behavior of dynamical systems with inputs, how their behavior is modified by feed back and mathematical tools such as Laplace transform, etc.
This course is related to DP4

Course Objectives

(1) We will learn how to draw block diagram of dynamic system
(2) We will learn how to model continuous system
(3) We will learn how to analyze dynamic system using frequency response
(4) We will learn how to analyze stability of dynamic system

Grading Policy

Evaluation rate are Report 20 %, midterm exam 40%, final exam(40%).
All the reports should be submitted.

Textbook and Reference

KindTitleAuthorPublisher
TextbookWe also use LMS and handouts.
References
References

Requirements(Assignments)

Preparation for the class: 1.5 hours
Review of the class ︓ 1.5 hours

Note

Course contents might be modified.

Schedule

1Introduction of Control System
2Types of robot and its construction
3Drive system of the robot and control
4Embedded software
5Mechanics required to control robots
6Mathematics required to control robots
7Calculation of hand position of 2-axis arm robot
8Midterm exam and review
9Control design exercise 1-1: Position control of the 1-axis arm robot (Modeling)
10Control design exercise 1-2: Position control of the 1-axis arm robot (Equivalent circuit and parameter estimation)
11Control design exercise 1-3: Control of the 1-axis arm robot (Control system design and simulation)
12Control design exercise 2-1: Position control of the wagon (Modeling)
13Control design exercise 2-2: Position control of the wagon (Equivalent circuit and parameter estimation)
14Control design exercise 2-3: Position control of the wagon (Control system design and simulation)
15Final exam and review