| 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 |
| 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. |