Advanced Robotics ｜ Syllabus data

Academic year

2025Year

Term

First Semester

Course title

Advanced Robotics

Class type

Lecture

Course title (ENG)

Advanced Robotics

Class code・Class name・Teaching forms

Z1800012 Advanced Robotics

Instructor

TAKANOBU, Hideaki

Credits

2.0Credits

Day and Time

Thu.3Period

Campus

Shinjuku Campus

Location

A-0514教室

Relationship between diploma policies and this course

A) A high degree of specialized expertise　100%
B) The skills to use science and technology　0%
C) The ability to conduct research independently, knowledge pertaining to society and occupations, and sense of ethics required of engineers and researchers　0%
D) Creative skills in specific areas of specialization　0%

Goals and objectives

Consider the mechanisms, sensors, actuators, and controls with respect to robots, an example of mechanical systems, while reading the literature.

Prerequisites

Linear algebra, Calculus

Method Using AL・ICT

Discussion Debate／Presentation／Other

Class schedule

1.Guidance
Introduction and contents of this course
2.Introduction
Basic knowledge of the robotics
3.Coordinate Frames
Basic theory on the coordinate system
4.Rotation Matrix
Rotation matrix for describe the kinematic structure of the robot
5.Euler Angles
The ZYZ Euler angles and RPY Euler angles
6.Angular Velocity
Angular velocity for describing the rotation of the objects
7.The State of a Rotating Body
Angular velocity, Euler angles, axis/angle parameters
8.Rigid Body Motion in Space
Motion of the links
9.The Homogeneous Matrix
Combination of translation and rotation
10.Forward Kinematics
Calculation of the forward kinematics of the link
11.The Jacobian Matrix
Jacobian matrix for robotics
12.Statics
Static for robotics
13.Inverse Kinematics
Given the end link position and orientation, find the joint parameters
14.Reviewing of the course
Reviewing of this course
15. Summary of this lecture and future robotics (on demand)
No Regular exams.

Evaluation

Evaluate grades based on submissions (100%)

Feedback for students

Oral critiques will be given in class.

Textbooks

Introduction to Robotics in English -Kinematics, Dynamics and Control-, (CORONA PUBLISHING)(ISBN: 978-4-339-04588-8)

Reference materials

[1] Journal of JSME
[2] Journal of RSJ
[3] IEEE Transactions on Robotics (T-RO)

Office hours and How to contact teachers for questions

Tuesday, 13:30-14:00 Room A-1717 or A-1663/1664 (Takanobu Lab), High-rise Building, Shinjuku Campus

Message for students

Course by professor with work experience

Not applicable

Work experience and relevance to the course content if applicable

Teaching profession course

Mechanical Engineering Program