2020 Kinematics and Dynamics of Robotic systems

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Academic unit or major
Undergraduate major in Systems and Control Engineering
Yamakita Masaki  Tsukagoshi Hideyuki 
Course component(s)
Mode of instruction
Day/Period(Room No.)
Mon7-8(S622)  Thr7-8(S622)  
Course number
Academic year
Offered quarter
Syllabus updated
Lecture notes updated
Language used
Access Index

Course description and aims

I. Structure, actuator and sensor for robots are understood.
II. Modeling, kinematics and dynamics of robots are understood.

Student learning outcomes

Basic elements, structure and modeling for analysis for robots to construct and control are mastered.


Robot, structure, actuator, sensor, kinematics, dynamics

Competencies that will be developed

Specialist skills Intercultural skills Communication skills Critical thinking skills Practical and/or problem-solving skills

Class flow

For each topic in a class, exercise or programming with Mathematica is conducted.

Course schedule/Required learning

  Course schedule Required learning
Class 1 Introduction to robot engineering Reserach fields in robotics are surveied and several robot systems are studied.
Class 2 Mean of speed reduction and selection of speed reduction Mean of speed reduction is understood and how to select the speed reduction is studied.
Class 3 Speed reduction mechanism and mechanical elements Speed reduction mechanisms and mechanical elements are studied.
Class 4 Strucure Structures for robots are studied.
Class 5 Actuators Basic properties of actuators for robots are studied.
Class 6 Sensors Basic properties of sensors for robots are studied.
Class 7 Expression of position and rotation of rigid body Mathematical expression of position and rotation of a rigid body is studied.
Class 8 Homogenous coordinate and homogenious transformation matrix Concept of homogeneous coordinate and its transformation matrix are studied.
Class 9 Angular vector and coordinate transformation Definition of angular velocity and its coordinate transformation are studied.
Class 10 D-H notation and forward and inverse transformation Definition of D-H notation and properties of forward and inverse transformations are studied.
Class 11 Velocity relationship (1): Numerical methods for inverse transformation As an application of velocity relationship, numerical method to solve inverse transformations is studied.
Class 12 Velocity relationship (2): Manupilability As an application of velocity relationship, definition and properities of manipulability are studied.
Class 13 Variational method and derivation of Lagrange's dynamic equation Concept of variationa method and its application to derive Lagrange's dynamic equation are studied.
Class 14 Derivation of dynamic equations of muli-link systems How to derive dynamic equations of multi-link systems is explained and properties of the dynamic equations are studied.
Class 15 Port Hamiltonian systems and passivity Definition of port Hamiltonian systems and properties of passivity are studied.

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.


Document is distributed in each class.

Reference books, course materials, etc.

Spong,Vydiasagar:Robot Dynamics & Control (Wiley)

Assessment criteria and methods

Report : 20%
Exercise: 30%
Exam.: 50%

Related courses

  • MEC.A201 : Engineering Mechanics

Prerequisites (i.e., required knowledge, skills, courses, etc.)

Not required

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