Course Title : Robotics

Code 10B407
Course Year Master Course
Term 2nd term
Class day & Period Mon 2nd
Location C3-Lecture Room 5
Credits 2
Restriction No Restriction
Lecture Form(s) Lecture
Language Japanese
Instructor Fumitoshi Matsuno,

Course Description

Understanding of intelligent behaviors of living things is very interesting. And realization of their intelligent motion by a robot is also attractive for mechanical engineering. In this lecture, we consider basic understanding of beautiful human skill “manipulation” on the point of view of dynamics and control. First modeling methodologies for a rigid multibody system and a general dynamic model of a manipulator are provided. Next, a typical nonlinear control law is introduced and some problems for applying the controller are shown. Based on nature of the dynamics of the manipulator, a very simple and robust controller can be derived by designing energy of the system. This lecture provides modeling methodologies and controller design strategies of the rigid multibody system and we analyze a beautiful human skill of the manipulation.

Grading

Course Goals

Course Topics

Theme Class number of times Description
1
4
1
3
3
2
1

Textbook

Textbook(supplemental)

Prerequisite(s)

Independent Study Outside of Class

Web Sites

Additional Information