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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
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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
- Graduate major in Mechanical Engineering
- Instructor(s)
- Okada Masafumi
- Class Format
- Lecture
- Media-enhanced courses
- Day/Period(Room No.)
- Tue5-6(S011)
- Group
- -
- Course number
- MEC.H531
- Credits
- 1
- Academic year
- 2017
- Offered quarter
- 1Q
- Syllabus updated
- 2017/8/7
- Lecture notes updated
- -
- Language used
- Japanese
- Access Index
-
Course description and aims
This course focuses on how to control a robot system. The basic of robot control is in motor position/force control, and design of motor reference requires kinematics and dynamics. The topics of this course include motor PD control, forward/inverse kinematics, statics, forward/inverse dynamics and compliance control, which are illustrated mathematically and dynamically.
Student learning outcomes
By the end of this course, students will be able to:
(1) Design a PD controller that satisfies the stability of the closed loop system
(2) Implement PD control algorism into PC control of a motor system
(3) Design a motor reference for a given trajectory of the end effector
(4) Design a motor torque that yields appropriate force in the end effector
(5) Design a compliance controller.
Keywords
PD control, Forward/Inverse kinematics, Statics, Forward/Inverse dynamics, Conpliance control
Competencies that will be developed
| ✔ Specialist skills | Intercultural skills | Communication skills | Critical thinking skills | Practical and/or problem-solving skills |
Class flow
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
| Course schedule | Required learning | |
|---|---|---|
| Class 1 | Classical control theory and motor control | PD control, Final-value theorem, Nyquist stability criterion |
| Class 2 | Implementation of motor control into PC system | Discrete time system, Pseudo-differential |
| Class 3 | Kinematics | Forward/Inverse kinematics |
| Class 4 | Kinematics of closed kinematic chain | Closed kinematic chain, Constraint |
| Class 5 | Statics | Statics, Virtual work principal |
| Class 6 | Compliance control | Compliance ellipsoid, Compliance control |
| Class 7 | Generalized coordinates and dynamics | Degree of freedom, generalized coordinates |
| Class 8 | Application of robot control | Robot control |
Textbook(s)
None
Reference books, course materials, etc.
Masafumi Okada, Basic and Application of System Control (Japanese)
Assessment criteria and methods
Final exams
Related courses
- MEC.H432 ： Multibody Systems
- MEC.H434 ： Advanced Course of Actuator Engineering
Prerequisites (i.e., required knowledge, skills, courses, etc.)
None
