2016 Exercise in Mechatronics

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Academic unit or major
Undergraduate major in Mechanical Engineering
Instructor(s)
Takayama Toshio  Kim Joon-Wan 
Course component(s)
Exercise /Experiment
Mode of instruction
 
Day/Period(Room No.)
Mon5-10(石川台3号館201C号室)  
Group
-
Course number
MEC.I332
Credits
2
Academic year
2016
Offered quarter
4Q
Syllabus updated
2016/4/27
Lecture notes updated
-
Language used
Japanese
Access Index

Course description and aims

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.

Student learning outcomes

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.

Keywords

PID control,Kinematics,Inverse kinematics,Jacobian,Compliance control

Competencies that will be developed

Specialist skills Intercultural skills Communication skills Critical thinking skills Practical and/or problem-solving skills

Class flow

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

  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.

Textbook(s)

Instruction manuals and course materials are provided.

Reference books, course materials, etc.

Instruction manuals and course materials are provided or instructed to be downloaded.

Assessment criteria and methods

To evaluate performance by checking the experimental results and reports every week.

Related courses

  • MEC.I331 : Mechatronics (Mechanical Engineering)
  • MEC.I312 : Modeling and Control Theory

Prerequisites (i.e., required knowledge, skills, courses, etc.)

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.

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