科目名 Course Title
講義題目 Subtitle
Control Problems on Robotics（ロボット制御工学 E） [Control Problems on Robotics]
責任教員 Instructor
担当教員 Other Instructors
江丸 貴紀 [Takanori EMARU] (大学院工学研究院)
開講年度 Year
開講学期 Semester
補足事項 Other Information
2013
２学期
時間割番号 Course Number
単位数 Number of Credits
092431
2
キーワード Key Words
Robotics, Digital Control, Intelligent Control, Nonlinear Control
授業の目標 Course Objectives
This course offers advanced topics on robotics and mechanical systems. Mechatronics and control theory are very important fundamentals for robotics. Recently, the field of mechanical engineering is expanding from the machine engineering to mechatronics and intelligent robotics. In order to implement intelligent mechanical systems, it is very important to obtain the state of controlled object. Therefore, sensing and signal processing technique is very important. Especially, an observer is widely used to obtain the state of controlled object without increasing the number of sensors. Additionally, nonlinear control theories which include intelligent control theory such as genetic algorithm, neural network, fuzzy theory, and so on are introduced to understand advanced topic of robotics and control theory.
到達目標 Course Goals
To learn an applied skill of control theory and robotics; to represent controlled objects such as robots and mechanical systems as mathematical equations in order to design nonlinear control systems; and to learn an applied skill of intelligent control theory such as genetic algorithm, neural network, fuzzy theory.
授業計画 Course Schedule
Lecture 1: Intelligent Robotics (8 times) [Assoc Prof Takanori EMARU]
(1) Guidance and introduction of intelligent robotics
(2) Basics of mechatronics systems (mechanics and electronics)
(3) Sensing and signal processing for autonomous robot
(4) Robot navigation: Self-localization and mapping
(5) Nonlinear control theory: Example to apply to robot manipulator
Lecture 2: topics 1 (4 times) [Prof Yukinori KOBAYASHI]
(1) Modern control and optimal regulator
(2) Observer and servo system
(3) Motion control of robots and mechanical systems
Lecture 3: topics 2 (4 times) [Assoc Prof Hiroyuki HARADA]
(1) Wheeled mobile robot
(2) Legged mobile robot
(3) Other mobile robots
Final Report
準備学習（予習・復習）等の内容と分量 Homework
Preparation: The homework will involve understanding brief overview of content of a lecture. According to a course schedule, read the corresponding part of handout and raise awareness of the issue.
Review: Submit the report on what he/she examined.
成績評価の基準と方法 Grading System
20% class participation
50% assignments (assignment for each lecture is required)
30% final report
テキスト・教科書 Textbooks
There is no one textbook that adequately responds to the goal of this lecture. Some reading materials and handouts will be prepared for your understanding. Please contact the instructors if you need further advice.
講義指定図書 Reading List
参照ホームページ Websites
研究室のホームページ Website of Laboratory

備考 Additional Information