Robotics Ⅰ

Course Information

College	Toyama College	Year	2022
Course Title	Robotics Ⅰ
Course Code	0136	Course Category	Specialized / Elective
Class Format	Lecture	Credits	School Credit: 1
Department	Department of Electrical and Control Systems Engineering	Student Grade	5th
Term	First Semester	Classes per Week	2
Textbook and/or Teaching Materials	ROBOTICS（JSME著、丸善版株式会社）、プリント
Instructor	Kaneko Shinichiro

Course Objectives

At the completion of this course, students will be able to

1) Understand the mechanism of the robot.
2) Understand robot sensing technology.
3) Understand the actuator of the robot.
4) Understand the basics of coordinate transformation.
5) Understand the derivation of forward kinematics based on link parameters.
6) Understand the derivation of inverse kinematics of low degrees of freedom model.
7) Understand the meaning of Jacobian matrix.
8) Understand simple static matter problem.
9) Understand the derivation of the equation of motion of a simple model.

Rubric

	Ideal Level of Achievement (Very Good)	Standard Level of Achievement (Good)	Unacceptable Level of Achievement (Fail)
Evaluation 1	Can understand and explain the robotic mechanism.	Can understand the mechanism of the robot.	Can not understand the mechanism of the robot.
Evaluation 2	Can understand and explain robot sensing.	Can understand robot sensing.	Can not understand robot sensing.
Evaluation 3	Can understand and explain the actuator of the robot.	Can understand robotic actuators.	Can not understand robotic actuators.
Evaluation 4	Can understand and explain the basics of coordinate transformation.	Can understand the basics of coordinate transformation.	Can not understand the basis of coordinate transformation.
Evaluation 5	Can derive and explain forward kinematics using link parameters.	Can derive forward kinematics using link parameters.	Can not derive forward kinematics using link parameters.
Evaluation 6	Can derive and explain the inverse kinematics of the low degree of freedom model.	Can derive the inverse kinematics of the low degree of freedom model.	Can not derive the inverse kinematics of the low degree of freedom model.
Evaluation 7	Understand the meaning of the Jacobian matrix and can derive and explain.	Can understand and derive the meaning of the Jacobian matrix.	Can not understand the meaning of the Jacobian matrix and can not derive.
Evaluation 8	Can explain and explain the statics of low latitude models.	Can solve the statics of the low degree of freedom model.	Can not solve the statics of the low degree of freedom model.
Evaluation 9	Can derive and describe the equation of motion of the low degree of freedom model.	Can derive the equation of motion of the low degree of freedom model.	Can not derive the equation of motion of the low degree of freedom model.

Assigned Department Objectives

学習・教育到達度目標 A-6 （核となる専門分野の既存技術を説明でき，社会から要求されている問題や実務上の問題を見出し設定することができる。）

JABEE 1(2)(d)(1) （専門工学（工学（融合複合・新領域）における専門工学の内容は申請高等教育機関が規定するものとする）の知識と能力）

JABEE 1(2)(e) （種々の科学、技術及び情報を活用して社会の要求を解決するためのデザイン能力）

ディプロマポリシー 1 （電気工学，機械工学，情報工学の知識，技術を総合的に身につけ，それらを応用したものづくりができる。）

Teaching Method

Outline:

In recent years, robot technology has developed rapidly, not only in the manufacturing industry but also expanding space, medical care, construction, agriculture and its application fields.
Robotics engineering that is the foundation encompasses a wide range of fields such as machinery, electronics, control, calculator, materials.
In this lecture we outline the sensing and the actuator from the basic concept of the robot, explain the coordinate transformation, kinematics, inverse kinematics with the robot arm as a theme, learn about the fundamentals up to static mechanics, the future tasks in the robot etc.
Practice and report on each lecture and confirm progress.

Style:

Lecture and exercise

Notice:

Can take makeup exam in need aid up to maximum of 60 points.
Course plans may be changed according to student's level of understanding.

Characteristics of Class / Division in Learning

Applicable to Remote Class

Course Plan

			Theme	Goals
1st Semester
	1st Quarter
		1st	Guidance Introduction to robotics engineering	Understand the history of robots, basic concepts and basic configurations of robots, and current state of robot technology.
		2nd	Robot shape and mechanism	Understand the form and mechanism of the robot.
		3rd	Robot sensor (internal sensor)	Understand robot internal state sensing technology.
		4th	Robot sensor (external sensor)	Understand the environment sensing technology of the robot.
		5th	Robot actuator 1	Understand the various actuators used in robots.
		6th	Robot actuator 2	Understand the elements related to robot design centered on DC servomotors.
		7th	Mid-term examination	Check the level of understanding from the 1st to the 6th week.
		8th	Kinematics of robot 1	Understand the basics of coordinate transformation and how to express postures.
	2nd Quarter
		9th	Kinematics of robot 2	Understand link parameters and forward kinematics.
		10th	Kinematics of robot 3	Understand inverse kinematics.
		11th	Kinematics of robot 4	Understand Jacobian matrix, velocity and acceleration analysis.
		12th	Kinematics of robot 5	Practice exercises on kinematics.
		13th	Static mechanics of robot	Understand the relationship between Jacobian matrix and static mechanics.
		14th	Motion control of robot	Understand the outline of the trajectory generation method and the equation of motion.
		15th	Term examination	Check the level of understanding from the 8th to 14th week.
		16th	Test answer and explanation Questionnaire

Evaluation Method and Weight (%)

	Examination	Presentation	Mutual Evaluations between students	Behavior	Portfolio	Other	Total
Subtotal	80	0	0	0	0	20	100
Basic Ability	40	0	0	0	0	10	50
Technical Ability	40	0	0	0	0	10	50
Interdisciplinary Ability	0	0	0	0	0	0	0