Hiroshima University Syllabus

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Japanese
Academic Year 2024Year School/Graduate School Graduate School of Advanced Science and Engineering (Master's Course) Division of Advanced Science and Engineering Mechanical Engineering Program
Lecture Code WSH20201 Subject Classification Specialized Education
Subject Name 機械力学特論
Subject Name
(Katakana)
キカイリキガクトクロン
Subject Name in
English
Advanced Machinery Dynamics
Instructor KIKUUWE RYO,MURAMATSU HISAYOSHI
Instructor
(Katakana)
キクウエ リョウ,ムラマツ ヒサヨシ
Campus Higashi-Hiroshima Semester/Term 1st-Year,  First Semester,  2Term
Days, Periods, and Classrooms (2T) Mon5-8:ENG 110
Lesson Style Lecture Lesson Style
(More Details)
 
This course consists of lectures and programming exercise. Exercise problems of Mathematica programming will be assigned in the middle of lectures. Bring Notebook PC with Mathematica installed. 
Credits 2.0 Class Hours/Week   Language of Instruction E : English
Course Level 5 : Graduate Basic
Course Area(Area) 25 : Science and Technology
Course Area(Discipline) 09 : Mechanical Engineering
Eligible Students
Keywords Dynamics, Robotics, Kinematics, Analytical Mechanics
SDG_09 
Special Subject for Teacher Education   Special Subject  
Class Status
within Educational
Program
(Applicable only to targeted subjects for undergraduate students)
 
Criterion referenced
Evaluation
(Applicable only to targeted subjects for undergraduate students)
 
Class Objectives
/Class Outline
In this course, students will learn advanced knowledge on the classical mechanics and analytical mechanics. Students will also acquire basic analytical and programming skills for dealing with robotic systems.
 
Class Schedule lesson 01: Forward and inverse kinematics of robotic mechanisms
lesson 02: Mathematical representation of position and attitude
lesson 03: Denavit–Hartenberg parameters
lesson 04: Singular configuration and Jacobian matrix
lesson 05: Statics of robotic mechanisms
lesson 06: Rigid-body Dynamics
lesson 07: Lagrangian Mechanics
lesson 08: Newton-Euler method
lesson 09: Simulation of Robotic Mechanisms
lesson 10: Position control of robots
lesson 11: Force control of robots
lesson 12: Disturbance observer
lesson 13: Vibration control of robots
lesson 14: Mathematical Analysis of Physical Systems
lesson 15: Robust Control Techniques 
Text/Reference
Books,etc.
Students need to have either of the following textbooks:
* Tsuneo Yoshikawa: Foundation of Robotics, MIT Press (English version)
* 吉川 恒夫: ロボット制御基礎論,コロナ社(original Japanese version)
The English version is available free of charge from
http://ieeexplore.ieee.org/servlet/opac?bknumber=6267451
 
PC or AV used in
Class,etc.
 
(More Details) Every student should bring a notebook PC with Mathematica installed.
Mathematica is available at
https://www.media.hiroshima-u.ac.jp/services/hpc/mathematica

Also, check the website on a regular basis:
http://home.hiroshima-u.ac.jp/kikuuwe/kougi/m1_adv/index.html
 
Learning techniques to be incorporated  
Suggestions on
Preparation and
Review
All lessons will be given based on some fundamental knowledge on linear algebra, e.g., matrix-vector operations. Lessons 12 to 15 will use some knowledge on classical control theory. Through the course, student are required to proactively learn Mathematica language.

 
Requirements  
Grading Method Grades will be given based on results of exercises including programming. 
Practical Experience  
Summary of Practical Experience and Class Contents based on it  
Message  
Other   
Please fill in the class improvement questionnaire which is carried out on all classes.
Instructors will reflect on your feedback and utilize the information for improving their teaching. 
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