▶Japanese
Post to SNS
- Home
- > School of Engineering
- > Graduate major in Mechanical Engineering
- > Robot Control System Design
- School of Science
-
School of Engineering
- Undergraduate major in Mechanical Engineering
- Undergraduate major in Systems and Control Engineering
- Undergraduate major in Electrical and Electronic Engineering
- Undergraduate major in Information and Communications Engineering
- Undergraduate major in Industrial Engineering and Economics
- Common courses
- School of Materials and Chemical Technology
- School of Computing
- School of Life Science and Technology
- School of Environment and Society
- 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
- School of Computing
- School of Life Science and Technology
-
School of Environment and Society
- Department of Architecture and Building Engineering
- Department of Civil and Environmental Engineering
- Department of Transdisciplinary Science and Engineering
- Department of Social and Human Sciences
- Department of Innovation Science
- 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()
- Group
- -
- Course number
- MEC.H531
- Credits
- 1
- Academic year
- 2021
- Offered quarter
- 1Q
- Syllabus updated
- 2021/3/19
- Lecture notes updated
- -
- Language used
- English
- 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 | Statics | Statics, Virtual work principal |
| Class 5 | Compliance control | Compliance ellipsoid, Compliance control |
| Class 6 | Generalized coordinates and dynamics | Degree of freedom, generalized coordinates |
| Class 7 | Kalman filter | Kalman filter |
Out-of-Class Study Time (Preparation and Review)
To enhance effective learning, students are encouraged to spend approximately 100 minutes preparing for class and another 100 minutes reviewing class content afterwards (including assignments) for each class.
They should do so by referring to textbooks and other course material.
Textbook(s)
None
Reference books, course materials, etc.
Masafumi Okada, Basic and Application of System Control (Japanese)
Assessment criteria and methods
To be evaluated by reporting assesments.
Related courses
- MEC.H432 ： Multibody Systems
- MEC.H434 ： Advanced Course of Actuator Engineering
Prerequisites (i.e., required knowledge, skills, courses, etc.)
None
