2025 (Current Year) Faculty Courses School of Engineering Department of Mechanical Engineering Graduate major in Mechanical Engineering
Robot Control System Design
- Academic unit or major
- Graduate major in Mechanical Engineering
- Instructor(s)
- Masafumi Okada
- Class Format
- Lecture (Face-to-face)
- Media-enhanced courses
- -
- Day of week/Period
(Classrooms) - 5-6 Tue
- Class
- -
- Course Code
- MEC.H531
- Number of credits
- 100
- Course offered
- 2025
- Offered quarter
- 1Q
- Syllabus updated
- Apr 2, 2025
- Language
- English
Syllabus
Course overview and goals
This course focuses on how to control a robot system. The basic of robot control is in motor position/force control, and design of motor reference requires kinematics and dynamics. The topics of this course include motor PD control, forward/inverse kinematics, statics, forward/inverse dynamics and compliance control, which are illustrated mathematically and dynamically.
Course description and aims
By the end of this course, students will be able to:
(1) Design a PD controller that satisfies the stability of the closed loop system
(2) Implement PD control algorism into PC control of a motor system
(3) Design a motor reference for a given trajectory of the end effector
(4) Design a motor torque that yields appropriate force in the end effector
(5) Design a compliance controller.
Keywords
PD control, Forward/Inverse kinematics, Statics, Forward/Inverse dynamics, Conpliance control
Competencies
- Specialist skills
- Intercultural skills
- Communication skills
- Critical thinking skills
- Practical and/or problem-solving skills
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 | Classical control theory and motor control | PD control, Final-value theorem, Nyquist stability criterion |
| Class 2 | Implementation of motor control into PC system | Discrete time system, Pseudo-differential |
| Class 3 | Kinematics | Forward/Inverse kinematics |
| Class 4 | Statics | Statics, Virtual work principal |
| Class 5 | Compliance control | Compliance ellipsoid, Compliance control |
| Class 6 | Generalized coordinates and dynamics | Degree of freedom, generalized coordinates |
| Class 7 | Kalman filter | Kalman filter |
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.
Masafumi Okada, Basic and Application of System Control (Japanese)
Evaluation methods and criteria
To be evaluated by final examination.
Related courses
- MEC.H432 ： Multibody Systems
- MEC.H434 ： Advanced Course of Actuator Engineering
Prerequisites
None