ロボティクスⅠ(IMAC) / Robotics I

単位数: 2. 担当教員: 平田 泰久. 開講年度: 2024. 科目ナンバリング: TMA-MEE331E. 開講言語: English.

主要授業科目/Essential Subjects

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授業の目的・概要及び達成方法等

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)

#The contents of this class will be announced on Google Classroom called Robotics I.
#Please check the Google Classroom whose class-code is "kvlekkl".

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．講義のほとんどの部分は，John J. Craig著の "Introduction to Robotics Mechanics and Control" を用いて英語で行う．この教科書の前半部分，特に空間の記述と変換，マニピュレータの運動学・動力学について学習する．

授業の目的・概要及び達成方法等(Ｅ）

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)

#The contents of this class will be announced on Google Classroom called Robotics I.
#Please check the Google Classroom whose class-code is "kvlekkl".

A robot is an intelligent mechanical system with multiple degrees of freedom. In this lecture, students will learn the fundamentals of modeling 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. The first half of the textbook will be taught, especially on spatial descriptions and transformations, manipulator kinematics, and manipulator dynamics.

他の授業科目との関連及び履修上の注意

線形代数学と制御工学Iの履修を前提に講義をするので履修しておくこと．

他の授業科目との関連及び履修上の注意(Ｅ）

The lecture is given under the assumption that students are familiar with the Linear Algebra and the Control Engineering I.

授業計画

1. Introduction to Robotics
2. Spatial descriptions and transformations 1
3. Spatial descriptions and transformations 2
4. Spatial descriptions and transformations 3
5. Manipulator Kinematics　1
6. Manipulator Kinematics　2
7. Manipulator Kinematics　3
8. Inverse Manipulator Kinematics 1
9. Inverse Manipulator Kinematics 2
10. Inverse Manipulator Kinematics 3
11. Jacobians: velocities and static forces 1
12. Jacobians: velocities and static forces 2
13. Manipulator Dynamics 1
14. Manipulator Dynamics 2
15. Summary and examination

授業計画(Ｅ）

1. Introduction to Robotics
2. Spatial descriptions and transformations 1
3. Spatial descriptions and transformations 2
4. Spatial descriptions and transformations 3
5. Manipulator Kinematics　1
6. Manipulator Kinematics　2
7. Manipulator Kinematics　3
8. Inverse Manipulator Kinematics 1
9. Inverse Manipulator Kinematics 2
10. Inverse Manipulator Kinematics 3
11. Jacobians: velocities and static forces 1
12. Jacobians: velocities and static forces 2
13. Manipulator Dynamics 1
14. Manipulator Dynamics 2
15. Summary and examination

授業時間外学習

講義中に指示する

授業時間外学習（Ｅ）

Assignments will be given during the lecture.

成績評価方法及び基準

試験結果とレポ－ト，および出席により判定する．

成績評価方法及び基準(Ｅ）

Evaluation will be based on attendance, homework and a final examination.

教科書および参考書

• Introduction to Robotics Mechanics and Control, John J. Craig, Peason Education International (2005) ISBN/ISSN: 0131236296
• Modern Robotics: Mechanics, Planning, and Control, Kevin M. Lynch, Frank C. Park, Cambridge University Press (2017) ISBN/ISSN: 9781107156302

オフィスアワー

メールで連絡してから来室のこと
hirata@srd.mech.tohoku.ac.jp

オフィスアワー（Ｅ）

Appointment is required by email.
hirata@srd.mech.tohoku.ac.jp