2024 Faculty Courses School of Engineering Undergraduate major in Mechanical Engineering
Robot Dynamics and Control
- Academic unit or major
- Undergraduate major in Mechanical Engineering
- Instructor(s)
- Masafumi Okada
- Class Format
- Lecture (Face-to-face)
- Media-enhanced courses
- -
- Day of week/Period
(Classrooms) - 5-8 Thu
- Class
- -
- Course Code
- MEC.I333
- Number of credits
- 200
- Course offered
- 2024
- Offered quarter
- 4Q
- Syllabus updated
- Mar 14, 2025
- Language
- Japanese
Syllabus
Course overview and goals
This course is organized by modern control theory and robot control method. At first, representation and analysis of a linear system are explained based on state-space representation. After that, as a nonlinear system, robot control methods are explained.
Course description and aims
By the end of this course, students will be able to;
(1) Modern control system
(a) Represent a linear system by a state-space formulation
(b) Assess controllability and observability of the linear system
(c) Design a controller based on pole assignment, linear quadratic regulator and observer.
(d) Understand the basic knowledge for optimization
(2) Robot control
(a) Understand kinematics and statics of a manipulator
(b) Understand dynamics of a manipulator
(c) Design a compliance controller
Keywords
Modern control theory, kinematics, statics, dynamics, optimization
Competencies
- Specialist skills
- Intercultural skills
- Communication skills
- Critical thinking skills
- Practical and/or problem-solving skills
- This class aims at learning 6 and 7 of learning objective.
Class flow
This course is mainly organized lectures. Since each lecture requires the knowledge of the previous lecture, the students have to well review the previous lessons.
Course schedule/Objectives
| Course schedule | Objectives | |
|---|---|---|
| Class 1 | Dynamic equation and state-space equation | Obtain State-space equation of a linear system |
| Class 2 | Transfer function and state-space equation | Transfer transfer function into state-space equation, state-space equation into transfer function |
| Class 3 | Stability analysis of state-space equation | Assess the stability of the system based on eigen values of state transition matrix |
| Class 4 | Connection of systems | State-space systems are connected and represented by one State-space system. |
| Class 5 | Controllability and observability | Assess controllability and observability of state-space equation |
| Class 6 | State feedback and pole assignment | Design a state feedback controller based on pole assignment theory |
| Class 7 | Optimal control, optimization | Design an optimal controller using Linear quadratic regulator, Basic knowledge for optimization |
| Class 8 | Observer and Kalman filter | Estimate state value using observer theory |
| Class 9 | Kinematics and coordinates transformation | Understand robot kinematics |
| Class 10 | Euler angle and orientation | Represent link orientation using Euler angle |
| Class 11 | Inverse kinematics and Newton-Raphson method | Obtain a solution of inverse kinematics using Newton-Raphson method |
| Class 12 | Statics and Virtual work principal | Obtain a solution of statics using Virtual work principal |
| Class 13 | Forward/inverse dynamics | Obtain a solution of forward/inverse dynamics based on dynamic equation |
| Class 14 | Linearization of nonlinear systems，Compliance control, Impedance control | Linearize a nonlinear system based on Taylor expansion or linearized feedback，Design Compliance controller and Impedance controller |
Study advice (preparation and review)
To enhance effective learning, students are encouraged to spend approximately 100 minutes preparing for class and another 100 minutes reviewing class content afterwards (including assignments) for each class.
They should do so by referring to textbooks and other course material.
Textbook(s)
None
Reference books, course materials, etc.
None
Evaluation methods and criteria
Evaluate by final examination.
This may be subject to change depending on circumstances.
Related courses
- MEC.I312 ： Modeling and Control Theory
- MEC.I211 ： Robot Kinematics
- MEC.I332 ： Exercise in Mechatronics
Prerequisites
Students should have completed "MEC.I211 Robot Kinematics" and "MEC.I312 Modeling and Control Theory" or have equivalent knowledge.
Students who enrolled on or after April 1, 2023 (23B-) are not eligible to take this course in the 2024 academic year.