This is an experiment-based course to understand elements of mechatronics devices and practice control theories learned in the classroom lecture, by using a basic 3-degree-of-freedom robotic arm. This course provides an overview of mechanical and electrical elements (such as decelerators, actuators, sensors, and so on) needed to construct robotic manipulator. Topics covered in this course include: (a) computer interface to obtain data of the manipulator; (b) driving methods of the actuator; (c) introduction of control manners (such as inverse kinematics, compliance control and so on) applied to practical industrial robots; and (d) operation and control of 3-degree-of-freedom robotic arm.
Mechatronics is a multidisciplinary field of mechanical engineering and electrical engineering. The complex functions that can not be achieved by only mechanical elements become possible in mechatronics by combining with electric circuits, sensors, actuators, computers, and so on. By using a simple 3-degree-of-freedom robotic arm, students can understand elements of mechatronics devices. The operation and control of the robotic arm enable students to understand the function of mechatronics devices. By changing parameters of PID controller, students will learn how each parameter affects motion and behavior of the robotic arm.
By the end of this course, students will obtain skills to:
1) understand mechatronics elements for computer-based control.
2) control multi-degree-of-freedom manipulator actuated by electric motors.
3) practice manipulator control by numerical solutions.
PID control，Kinematics，Inverse kinematics，Jacobian，Compliance control
|✔ Specialist skills||Intercultural skills||Communication skills||Critical thinking skills||✔ Practical and/or problem-solving skills|
At the beginning of each class, overview and principle are explained as the lecture. Towards the end of class, students are given exercise problems related to the lecture and solve the tasks. Based on the exercise problems and experimental materials, students do experiments. To prepare for class, students should read the course schedule section and check what topics will be covered.
|Course schedule||Required learning|
|Class 1||Interface and control of experimental apparatus||To learn various elements needed to control a manipulator.|
|Class 2||PID control||To learn PID control and its parameters. To experience function or effect of each parameter.|
|Class 3||Accurate PD control||To learn how to predict the motion to control the manipulator accurately.|
|Class 4||Inverse kinematics and PTP (Point to point) control||To learn the usefulness of the Jacobian.|
|Class 5||Numerical solutions for the inverse kinematics and collision avoidance control||To learn how to avoid if there is an obstacle within the operating range.|
|Class 6||Compliance control of robots||To learn control methods for releasing joints softly when external force is applied.|
|Class 7||Trajectory generation of robots in the constraint conditions||To consider the algorithm to work in the operating range to which the constraint conditions are applied.|
Instruction manuals and course materials are provided.
Instruction manuals and course materials are provided or instructed to be downloaded.
To evaluate performance by checking the experimental results and reports every week.
Students must take MEC.I331 ： Mechatronics (Mechanical Engineering) before attending this course. Students have experience to create computer programs. Students do not need to be familiar with the specific language because formula manipulation is the main.