単位数: 2. 担当教員: 林部 充宏. 開講年度: 2024. 科目ナンバリング: TMA-MEE356E.
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Google Classroomのクラスコードは工学部Webページにて確認すること。
学部シラバス・時間割(https://www.eng.tohoku.ac.jp/edu/syllabus-ug.html)
ロボットは，多自由度の知能化機械である．本講義では，ロボットシステムを構築する際に不可欠な，ロボットマニピュレータのモデリングと運動制御の基礎について学ぶ．講義は，John J. Craig著の "Introduction to Robotics, Mechanics and Control"を用いて行う．ロボティクスIの内容に続き，この教科書の後半部分，特に動きの運動計画，運動制御について学習し，また実際にプログラミング言語を用いた実装についての演習を行う．
The class code for Google Classroom can be found on the Web site of
the School of Engineering:
https://www.eng.tohoku.ac.jp/edu/syllabus-ug.html (JP Only)
A robot is an intelligent mechanical system with multiple degrees of freedom.In this lecture, students will learn the fundamentals of modelling and control of a robot manipulator. Most of the lecture is given based on a textbook, "Introduction to Robotics, Mechanics and Control," which is authored by John J. Craig and known as one of the best textbooks in the robotics. Following Robotics I, the last half of the text book will be taught, especially on motion planning and motor control in robotics. In addition, we learn how to implement the robot motor control, kinematics and dynamics with programming language in hands-on style.
Classcode: 2o263hk
線形代数学と制御工学IとロボティクスIの履修を前提に講義をするので履修しておくこと．
The lecture is given under the assumption that students are familiar with the Linear Algebra and the Control Engineering I and Robotics I.
1. Trajectory Generation 1
2. Trajectory Generation 2
3. Manipulator-mechanism Design
4. Linear control of Manipulators 1
5. Linear control of Manipulators 2
6. Nonlinear control of Manipulators
7. Force control of Manipulators 1
8. Force control of Manipulators 2
9. Programming: trajectory planning
10. Programming: control (linear and non linear)
11. Programming: controller for inverse kinematics
12. Programming: inverse dynamics (lagrange) and dynamics simulation
13. Programming: force control 1
14. Programming: force control 2
1. Trajectory Generation 1
2. Trajectory Generation 2
3. Manipulator-mechanism Design
4. Linear control of Manipulators 1
5. Linear control of Manipulators 2
6. Nonlinear control of Manipulators
7. Force control of Manipulators 1
8. Force control of Manipulators 2
9. Programming: trajectory planning
10. Programming: control (linear and non linear)
11. Programming: controller for inverse kinematics
12. Programming: inverse dynamics (lagrange) and dynamics simulation
13. Programming: force control 1
14. Programming: force control 2
生徒は各クラスを1〜2時間勉強する必要があります。 理解できない部分が残っている場合は、質問したほうがいいです。
Students are required to review each class for one to two hours. If there remain any parts they cannot understand, they should ask questions.
試験結果とレポ－ト，および出席により判定する．
Evaluation will be based on attendance, homework and a final examination.
メールで連絡してから来室のこと
hayashibe@tohoku.ac.jp
Appointment is required by email.
hayashibe@tohoku.ac.jp