Introduction to Robotics

Transcription

1 COURSE NUMBER & COURSE TITLE: Introduction to Robotics INSTRUCTOR: Credits: 3 Language of instruction: Chinese / English REQUIRED COURSE OR ELECTIVE COURSE: Elective COURSE STRUCTURE/SCHEDULE: 1. teaching part(39 class hours),including seminar and discussion 2. experiment and project ASSESSMENT TOOLS: 1. Project 40% 2. Homework 40% 3. Attendence 20% TERMS OFFERED: Autumn semester PRE-REQUISITES: 1. Linear algebra 2. Model 3. Mechanical design 4. Analysis and system control 5. Foundation of electromechanical control PROFESSIONAL COMPONENT: 1. Engineering Topics: Engineering Science-2credits Engineering Design-1credit TEXTBOOK/READING LIST Textbook: 1. Xingzi Cai. Fundamentals of robotic.china machine Press R. Murry. Z.X. Li. and S. Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press Reading list: 1. Johon J.Craig. Introduction to Robotics. 3rd ed. China machine Press Niku. Saeed B.Introduction to Robotics: Analysis, systems and applications.publishing house of electrical industry Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modeling, Planning and Control, Springer; 1st ed. Dec COURSE DESCRIPTION: Robotics is a professional elective of mechanical specialty. This curricular mainly aims at systematically introducing the basic theoretical knowledge of robotics, robot design, robot control and robot programming knowledge to the students. Robotics is not only an essential course for students engaged in robotics research, development,but also a professional elective for students from the major of mechatronics. COURSE OUTCOMES [Related ME Program Outcomes in brackets] 1. Master mathematical knowledge required in the design, analysis, and control of the robot system. (A4.1 A4.2 A5.1 B2) 2. Gain the ability to establish and analyze the model of robot kinematics, dynamics equation. (A5.1 A5.2 B2) 3. Understand well common sensor on the robot, the control system configuration and control method (A5.3 B2 C4) 4. Enhance students' perceptions of robots, by letting them perform actual experiments of programming operation as well as leading them to visit various special robots. (A5.3 A5.4 B2 C2) 5. By means of seminars, enable students have an overall understanding of the already finished achievement and the cutting-point of present researches. (A5) 6. Apply three-dimensional software to robot development(project or Curriculum design,which can develop comprehensive capabilities of the specific structure of the robot design, motion simulation design, etc. (A5.1,A5.2,B2, C4) PREPARED BY: REVISION DATE:

2 Course Syllabus COURSE INSTRUCTORS Name: Office: Name: Office: COURSE DESCRIPTION Robotics is a professional elective of mechanical specialty. This curricular mainly aims at systematically introducing the basic theoretical knowledge of robotics, robot design, robot control and robot programming knowledge to the students. Robotics is not only an essential course for students engaged in robotics research, development,but also a professional elective for students from the major of mechatronics. TEXTBOOK 1. Xingzi Cai. Fundamentals of robotic.china machine Press R. Murry. Z.X. Li. and S. Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press READING RERENCE 1. Johon J.Craig. Introduction to robotics. 3rd ed. China machine Press Niku. Saeed B. Introduction to Robotics: Analysis, systems and applications.publishing house of electrical industry Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modeling, Planning and Control, Springer; 1st ed. Dec COURSE PRE-REQUISITES 1. Linear algebra 2. Model 3. Mechanical design 4. Analysis and system control 5. Foundation of electromechanical control

3 COURSE LEARNING OBJECTIVES As a professional curricular of cultivating plan of mechanical specialty, Robotics possesses the characteristics of interdiscipline and cutting-edge, which is the integration of machinery, mechanics, computer technique, control theory, artificial intelligent and so on. By systematical study of such a course, students are expected to master the design, control and program of robot and own a deeper understanding of industrial robot. Above all, students enable to analyze and design the robot system and to be good at relative scientific research and technique. In general, this curricular consists of mathematics, Robot kinematics and dynamics, robot control, technique and application relating to robot, operational experiment of industrial robot, visit of various special robots, seminars and so on. By the teaching of the course, students will be able to grip the basic theoretical knowledge of industrial robots and also to know well about the technique and development of a variety of robots. Apart from that, with assignment of curricular design, the ability of logical thinking, scientific research and practice will be improved so that students are capable of analyzing, solving, and expressing specific industrial issues by use of comprehensive knowledge. The specific cultivation comes as follows. 1. Master mathematical knowledge required in the design, analysis, and control of the robot system. (A4.1 A4.2 A5.1 B2) 2. Gain the ability to establish and analyze the model of robot kinematics, dynamics equation. (A5.1 A5.2 B2) 3. Understand well common sensor on the robot, the control system configuration and control method (A5.3 B2 C4) 4. Enhance students' perceptions of robots, by letting them perform actual experiments of programming operation as well as leading them to visit various special robots. (A5.3 A5.4 B2 C2) 5. By means of seminars, enable students have an overall understanding of the already finished achievement and the cutting-point of present researches. (A5) 6. Apply three-dimensional software to robot development (project or Curriculum design, which can develop comprehensive capabilities of the specific structure of the robot design, motion simulation design, etc. (A5.1,A5.2,B2, C4) GRADING FORMAT AND POLICY 1. Project 40% 2. Homework 40% 3. Attendence 20%

4 TEACHING METHODS Robotics is a theoretical, advanced, comprehensive curricular. In order to meet with the objects and improve teaching quality, with the goal of warming teaching atmosphere and enhancing students enthusiasm, we are developing better teaching method, which comes as follows: 1. Combination of the theoretical knowledge and current robot case and cutting-edge seminars. 2. Combination of classroom teaching and the use of existing laboratory equipment. 3. Combination of knowledge in classroom and books and cutting-edge seminar. 4. Combination of writing on the blackboard and the use of multimedia as well as network resources. 5. Consolidate knowledge and improve the ability by a combination of homework and synthesized assignment. In addition, the research and application about the robot are currently in rapid development, we will continue to enrich the teaching content and teaching methods. We will update the courseware and content, by combining the research and development of the discipline, and fully integrate research projects of Robotics Institute in SJTU as well as the latest research and development in the world. By introducing the latest research results of industrial robots, serving robots and special robots, as seminars, we hope to widen students 'horizons and enhance students' ability of knowledge acquisition, knowledge application and problem-solving. THE TEACHING CONTENT AND HOURS DISTRIBUTION (INCLUDING PRACTICE, SELF-STUDY, JOB DISCUSSIONS OF THE CONTENT AND REQUIREMENTS) 1. Introduction (3 class hours: classroom teaching and seminar)(b4,c2) Introduce origin and development of robots. Discuss the definition, feature, construction and classification of robots. Seminar: the development of industrial robots in the world. 2. Mathematical base of the robotics(4 class hours: classroom teaching and seminar) (A4.1,A5.2) Position transformation, gesture transformation, homogeneous transformation, general rotation transformation and inverse transformation. Seminar: Advances in humanoid robot 3. Robot kinematics (5 class hours: classroom teaching and seminar)(a5.1,a5.2,b2) the kinematic equations of robot s movement posture, directional angle, moving position and coordinates, and said rod transformation matrix method for solving Euler transform, roll - Yang - partial transform and spherical transform. Robot s differential movement and its Jacoby matrix, etc. Seminar: development of the soccer robot. 4. Robot dynamics (6 class hours: classroom teaching and discussion)(a5.1,a5.2,b2)

5 Robot dynamics equations, the dynamic characteristics and static characteristic; analyzed two robot dynamics equation method for finding the Lagrange functional balance method and Newton - Euler dynamic balance method; then conclude the steps to establish Lagrange equation. 5. Analysis and design of manipulator(4 class hours: classroom teaching and discussion)(a4.1,a5.2,b2) Design, kinematics configuration, select drive way, quantitative measurement of the workspace based on the mission requirements, detection of stiffness, deformation, position and force. 6. Robot control (8 class hours: classroom teaching and discussion)(a5.2,b2,b4,c2) Robot basic control principle, the position of the robot control, the robots intelligent control principle, path planning and trajectory generation 7. Development of robotics (6class hours: classroom teaching and discussion)(b4, C2) The newest development of robotics across the world. CURRICULAR DESIGN 1. The first is operation on robots. This part is aimed at requiring students to master common programming language and methods of industrial robots (KUKA and MOTOMAN), and to operate on robots independently. 2. With the object of multiple assignments, students are required to design a six-freedom robot. Each student should put forward specific plan, mode the manipulator with D-H mathematical model, accomplish analysis of kinematics and dynamics of manipulator. Additionally, students should do further constructive design, and perform visible simulation by use of robotics toolbox in matlab. Finally, each student is expected to accomplish 3-D physical simulation of six-freedom with the help of software. TEAM-WORK Success in this course depends heavily on teamwork. Student will be assigned to groups of four that will work together the entire semester. It is expected that the students within a team will work together on homework, projects and in-class activities. It is not unusual for team s to experience some conflict during the semester. What is important is that the team deal with this in a positive and t constructive manner. Teams have problems working together should make every effort to resolve them by themselves. The course instructors will be available to help and facilitates smooth team operation, but the end responsibility lies with the team.

6 COURSE ROAD-MAP AND SCHEDULE Week# Lecture# Lecture Topic Lecturer Reference Homework Lab/Recitation Topics 1 1 Introduce origin and development of robots. Discuss definition, feature, construction and classification of robots Mathematical base of robots Robotic kinematics Robotic dynamics Analysis and design of manipulator Robot control Development of robot technique.

7 improve improve Class starts Review and assignment assessment Abstract Teacnhing of key point Self-study content Ability imo Training and discussion Real got homework other Class conclusion finished N Y conclusion Forecast next class Class over Teaching review Flow block diagram of classroom teaching design