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 cannot 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.
Based on the knowledge that students have learned through ‘MEC.I331： Mechatronics’ and ‘MEC.I312：Modeling and Control Theory,’ students conduct the exercises or experiments focusing on the following points and make a report every subject.
1. Robot components
2. Fundamentals of control theory
3. Design of control system
4. Inverse kinematics
5. Obstacle avoidance control
6. Compliance control
7. Friction compensation and gravity compensation
By the end of this course, students will obtain skills to:
1) To understand the robot components such as encoders, motors, motor drivers, analog-to-digital conversion circuits, control programming languages, etc.
2) To learn the proportional control, integral control, and differential control of PID control, and understand the roles and differences of each control method.
3) To obtain the transfer function from the step response experiment of the robot, and design the parameters of the PID control system.
4) To understand the robot's inverse kinematics problem and control the robot's positioning.
5) To obtain a numerical solution of the robot’s inverse kinematics and perform the obstacle avoidance control of the robot.
6) To perform the compliance control by restricting the force of the robot arm.
7) To perform the friction compensation and gravity compensation of robots and understand the effect of compensation.
This subject corresponds to the following learning objectives.
1. [Specialty] Basic expertise,
3. [Communication ability] Ability to express logically and respect each other,
5. [Development ability] (Practical ability or Solving ability) Acquisition of ability to solve basic problems
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 | PID control system design | To determine the parameters of the PID control system and design the PID control system. |
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 | Friction compensation and gravity compensation | The friction and gravity in the robot are compensated by the measurement of its friction and the calculation of its gravity. |
To enhance effective learning, students are encouraged to spend a certain length of time outside of class on preparation and review (including for assignments), as specified by the Tokyo Institute of Technology Rules on Undergraduate Learning (東京工業大学学修規程) and the Tokyo Institute of Technology Rules on Graduate Learning (東京工業大学大学院学修規程), for each class.
They should do so by referring to textbooks and other course material.
Instruction manuals and course materials are provided.
Instruction manuals and course materials are uploaded to OCW.
To evaluate performance by checking the participation and its report every week.
Performance in experiment and excercise 40%, Report 60%.
Students must take MEC.I331: Mechatronics and MEC.I312: Modeling and Control Theory before attending this course. Or, it is conditional on having the corresponding knowledge. Students have experience to create computer programs. Students do not need to be familiar with the specific language because formula manipulation is the main.