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School of Engineering
- Undergraduate major in Mechanical Engineering
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- 工学院，物質理工学院，環境・社会理工学院共通科目
- Liberal arts and basic science courses
- First-Year Courses
- School of Science
- School of Engineering
- School of Materials and Chemical Technology
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- School of Life Science and Technology
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School of Environment and Society
- Department of Architecture and Building Engineering
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- Graduate major in Technology and Innovation Management
- Common courses
- Liberal arts and basic science courses
- Academic unit or major
- Undergraduate major in Mechanical Engineering
- Instructor(s)
- Kim Joon-Wan Ishida Tadashi
- Class Format
- Exercise /Experiment
- Media-enhanced courses
- Day/Period(Room No.)
- Mon5-10(石川台3号館201C号室)
- Group
- -
- Course number
- MEC.I332
- Credits
- 2
- Academic year
- 2018
- Offered quarter
- 4Q
- Syllabus updated
- 2018/11/26
- 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 | Static and dynamic characteristics of a servo system | To learn static and dynamic characteristics of a servo system. |
| Class 3 | PID control | To learn PID control and its parameters. To experience function or effect of each parameter. |
| 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.
