2024 Faculty Courses School of Engineering Undergraduate major in Systems and Control Engineering
Robotic System and Control
- Academic unit or major
- Undergraduate major in Systems and Control Engineering
- Instructor(s)
- Daisuke Kurabayashi
- Class Format
- Lecture (Face-to-face)
- Media-enhanced courses
- -
- Day of week/Period
(Classrooms) - 5-6 Tue / 5-6 Fri
- Class
- -
- Course Code
- SCE.R301
- Number of credits
- 200
- Course offered
- 2024
- Offered quarter
- 2Q
- Syllabus updated
- Mar 14, 2025
- Language
- Japanese
Syllabus
Course overview and goals
This course will provide a comprehensive overview of robot control. Starting from the basis of kinematics and dynamics of manipulators, control of wheeled robots, redundant manipulators, and group robots will be introduced. At the end of the course, students must be able to derive controllers using model-based position control, impedance control, hybrid control, Lyapunov-stability based control.
Many types of robot have been introduced in our society. Through the course, students will gain an understanding of control system that will lead them to advanced control theory and realization of their own robotic systems.
Course description and aims
At the end of the course, students must be able to derive controller for robots by using model-based control, Lyapunov-stability based control, and to become familiar with control methods for redundant manipulator, mobile robots, and group robots.
Keywords
Model-based control, Lyapunov stability, Redundant manipulator
Competencies
- Specialist skills
- Intercultural skills
- Communication skills
- Critical thinking skills
- Practical and/or problem-solving skills
Class flow
In class, quiz or short report will be presented to introduce the topics of the lecture. Then, main points will be discussed.
Course schedule/Objectives
| Course schedule | Objectives | |
|---|---|---|
| Class 1 | Introduction to robotic systems and control | Students must be able to explain a structure of a manipulator and to derive Jacobian matrix with referring to coordinate systems. |
| Class 2 | Motion equation of a manipulator | Derive the motion equation of a manipulator. Students must be able to explain the properties of a motion equation of a manipulator. |
| Class 3 | Model-based position control | Students must be able to design a model-based controller for position control of a manipulator. |
| Class 4 | Model-based impedance control | Students must be able to design a model-based controller for impedance control of a manipulator. |
| Class 5 | Hybrid control | Students must be able to design a hybrid controller for impedance and position control of a manipulator. |
| Class 6 | Design of controller for manipulators | Solve the problems on the design of controller handed out in the class. |
| Class 7 | Lyapunov stability and control | Students must be able to explain Lyapunov stability and to derive a controller based on it. |
| Class 8 | Control of wheel-type mobile robot | Students must be able to explain a controller for a wheel-type mobile robot that has nonholonomic constraint. |
| Class 9 | Singular value decomposition and manipulability | Solve the value decomposition problems. Students must be able to explain the manipulability of a manipulator. |
| Class 10 | Redundant manipulator | Students must be able to derive a controller for a redundant manipulator. |
| Class 11 | Control of wheeled and redundant robots | Solve the problems on the control of wheeled and redundant robots handed out in the class. |
| Class 12 | Identification of manipulator | Students must be able to explain the method of identification of parameters in a motion equation of a manipulator. |
| Class 13 | Path planning | Students must be able to derive a target trajectory for a robot. |
| Class 14 | Implementation and simulation | Students should become familiar with the issues on implementations and simulations of robots. |
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)
Handouts will be distributed at the beginning of class when necessary.
Reference books, course materials, etc.
Yoshikawa, T. (1988) Robot Seigyo Kisoron (in Japanese), Corona-sha.
Hosoda, K. (2019) Jissen Robot Seigyo (in Japanese), Ohmsha.
Evaluation methods and criteria
Quiz and short reports: 30%, final exam : 70%
Related courses
- SCE.S203 ： Kinematics and Dynamics of Robotic systems
Prerequisites
Students are expected to have the basic skills on dynamical systems and kinematics of robots.