This course is organized by modern control theory and robot control method. At first, representation and analysis of a linear system are explained based on state-space representation. After that, as a nonlinear system, robot control methods are explained.
By the end of this course, students will be able to;
(1) Modern control system
(a) Represent a linear system by a state-space formulation
(b) Assess controllability and observability of the linear system
(c) Design a controller based on pole assignment, linear quadratic regulator and observer.
(2) Robot control
(a) Understand kinematics and statics of a manipulator
(b) Understand dynamics of a manipulator
(c) Design a compliance controller
Modorn control theory, kinematics, statics, dynamics
|Intercultural skills||Communication skills||Specialist skills||Critical thinking skills||Practical and/or problem-solving skills|
This course is mainly organized lectures. Since each lecture requires the knowledge of the previous lecture, the students have to well review the previous lessons.
|Course schedule||Required learning|
|Class 1||Dynamic equation and state-space equation||Obtain State-space equation of a linear system|
|Class 2||Transfer function and state-space equation||Transfer transfer function into state-space equation, state-space equation into transfer function|
|Class 3||Stability analysis of state-space equation||Assess the stability of the system based on eigen values of state transition matrix|
|Class 4||Connection of systems and minimum realization||Calculate minimum realization from transfer function|
|Class 5||Controllability and observability||Assess controllability and observability of state-space equation|
|Class 6||State feedback and pole assignment||Design a state feedback controller based on pole assignment theory|
|Class 7||Optimal control||Design an optimal controller using Linear quadratic regulator|
|Class 8||Observer and Kalman filter||Estimate state value using observer theory|
|Class 9||Kinematics and coordinates transformation||Understand robot kinematics|
|Class 10||Euler angle and orientation||Represent link orientation using Euler angle|
|Class 11||Inverse kinematics and Newton-Raphson method||Obtain a solution of inverse kinematics using Newton-Raphson method|
|Class 12||Statics and Virtual work principal||Obtain a solution of statics using Virtual work principal|
|Class 13||Forward/inverse dynamics||Obtain a solution of forward/inverse dynamics based on dynamic equation|
|Class 14||Linearization of nonlinear systems||Linearize a nonlinear system based on Taylor expansion or linearized feedback|
|Class 15||Compliance control, Impedance control||Design Compliance controller and Impedance controller|
Robotics, The Japan Society of Mechanical Engineering(Whan Omata teaches)
Students should have taken "MEC.I211 Robot Kinematics" and "MEC.I312 Modeling and Control Theory" or have equivalent knowledge.