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《机器人技术》课程教学大纲
一、课程的地位与任务Useoftheindustrialrobotwhichbecameidentifiableasauniquedevicein1960salongwithcomputer-aideddesignCADsystemsandcomputer-aidedmanufacturingCAMsystemscharacterizesthelatesttrendsintheautomationofthemanufacturingprocess.Thiscoursefocusesonthemechanicsandcontrolofthemostimportantformoftheindustrialrobotthemechanicalmanipulator.Thiscoursewillgiveintroductiontoroboticstostudents.InthiscoursestudentswillstudyrobotkinematicsdynamicsJacobiansmatrixandtrajectorygenerationlinearcontrolofmanipulatorandnonlinearcontrolofmanipulator.Roboticsisveryimportanttodevelopandusetherobots.Sothiscourseisveryusefultoautomationfiledstudentscanmakethemmasternewrobottechnologyofautomation.
二、课程目标.理解机器人的基本概念,掌握建立六自由度机器人系统的建模方法,理解牛顿欧拉和拉格朗日动力学方法优劣;.熟练机器人的运动控制相关的模型、控制算法等,并利用MATLAB对算法效果进行评估,能通过网络获取开源的机器人示例,并在MATLAB中进行仿真验证;.理解机器人在复杂系统中的应用方法,包含完整的机构选型、检测、控制和规划等,掌握典型的应用场景表1课程目标与相关毕业要求的对应关系注
1.支撑强度分别填写H、M或L其中H表示支撑程度高、M为中等、L为低;
2.毕业要求须根据课程所在专业培养方案进行描述
三、课程主要内容与基本要求IntroductiontoroboticsandtheserialmechanismrobotarmBackgroundofrobotthemechanicsandcontrolofmechanicalmanipulatorsandrobotarmnotationofrobotics.TheactuatorandsensorsforrobotsIntroducethepneumatichydraulicmotoractuatorsandthesensorsforpositiongesturevelocityacceleratorandforcetorque.SpatialdescriptionsandtransformationsDescriptions:spatialpositionsorientationsandframes.Mappings:changingdescriptionsfromframetoframe.Operators:translationsrotationsandtransformations.Summaryofinterpretationstransformationarithmeticandtransformequations.Moreonrepresentationoforientation.Computationalconsiderations.ManipulatorkinematicsThischapterincludesthefollows.Linkdescription.Link-connectiondescription.Conventionfortheaffixingframestolinks.Manipulatorkinematics.ActuatorspacejointspaceandCartesianspace.Examples:kinematicsoftwoindustrialrobots.Frameswithstandardnames.Computationalconsiderations.InversemanipulatorkinematicsPayattentiontothesolvability.Thenotionofmanipulatorsubspacewhenn
6.AlgebraicVS.geometric.Algebraicsolutionbyreductiontopolynomial.Pieperssolutionwhenthreeaxesintersect.Examplesofinversemanipulatorskinematics.Thestandardframes.Solvingamanipulatorcase.ManipulatordynamicsThischapterincludesthefollows.Accelerationofarigidbody.Massdistribution.NewtonsequationEulersequation.IterativeNewton-Eulerdynamicsformulation.IterativeVS.closedform.Anexampleofclosed-formdynamicsequations.Thestructureofamanipulatorsdynamicequations.Lagrangianformulationofmanipulatordynamics.Dynamicssimulation.LinearcontrolofmanipulatorsThischapterincludesthefollows.Feedbackandclosed-loopcontrol.Second-orderlinearsystems.Controlofsecond-ordersystems.Control-lawpartitioning.Trajectory-followingcontrol.Disturbancerejection.ContinuousVS.discretetimecontrol.Modelingandcontrolofasinglejoint.Architectureofanindustrial-robotcontroller.NonlinearcontrolofmanipulatorsandcontrollerhardwareThischapterincludesthefollows.Nonlinearandtime-varyingsystems.Multi-inputmulti-outputcontrolsystems.Thecontrolproblemformanipulators.Practicalconsiderations.Currentindustrial-robotcontrolsystems.Lyapunovstabilityanalysis.Cartesian-basedcontrolsystems.Adaptivecontrol.Whathardwarecanbeusedasthecontrollerformanipulators.TrajectorygenerationThischapterincludesthefollows.Generalconsiderationsinpathdescriptionandgeneration.Joint-spaceschemes.Cartesian-spaceschemes.GeometricproblemswithCartesianpaths.Pathgenerationatruntime.Descriptionofpathswitharobotprogramminglanguage.
四、课程教学学时安排表2课程学时安排表备注根据学生学情适当调整教学进度,并安排部分教学内容为自学内容,通过大作业来对学生自学情况进行考核
五、实践环节及基本要求o
六、达成目标的途径和措施《机器人技术》教学以课堂教学为主,并结合自主学习、典型案例分析和作业练习1课堂教学主要讲述工业机器人基本概念、典型机构、建模方法、控制和规划方法等2案例分析主要针对六自由度机器人运动学建模、动力学建模、控制系统搭建、运动规划算法及其仿真等3通过课堂提问、交流和作业使得学生获得熟练掌握机器人技术的基本知识
七、考核方法及成绩评定表3考核方法及成绩评定表
八、推荐教材与主要参考书1《机器人导论》IntroductiontoRobotics,旧J]萨哈,机械工业出版社,2010References2《机器人导论》IntroductiontoRobotics[美]约翰J.克拉克,机械工业出版社20053《机器人技术基础》熊有伦华中理工大学出版社1996课程英文名Robottechnology课程代码A0803Z05学分2总学时32理论学时32实验/实践学时0课程类别专业教育课课程性质选修课先修课程《自动控制原理》,《现代控制理论》,《运动控制系统》适用专业自动化及其相关专业开课学院机电工程学院课程目标毕业要求支撑程度H、M、L2-33-35-312-2课程目标1ML课程目标2LLH课程目标3M教学内容教学时数学生任务对应课程目标Introductionandactuatorsensors4Knowhistoryofrobotandbasicknowledgeofmanipulator.Keypointsofthischapterarethemechanicsandcontrolofmanipulators.Knowthecoordinationsystemdrivenmethodcontrolstructureandprogramlanguagefortheserialmechanismrobotarm.Selecttheappropriateactuatorandsensorsforthespecialapplicationrobots.Mastertheworkingprincipleoftheactuatorsandsensors.Homework:
1.
111.
142.
82.
132.
143.
13.
53.
154.17-20课程目标
(1)Spatialdescriptionsandtransformation6Masterthepositionsorientationsandframesmappings:changingdescriptionsfromframetoframe.Thetranslationsrotationsandtransformationsmustbestudied.Introduceothers.Keypointsofthischapterarethepositionsorientationsandframesdescriptions.Homework:
5.
35.
55.
85.9Example
5.24课程目标
(1)Manipulatorkinematics4Masterthelinkdescriptionlink-connectiondescriptionconventionforaffixingframestolinksmanipulatorkinematicsactuatorspacejointspaceandCartesianspace.Introduceothers.Keypointsofthischapteraremanipulatorkinematics.Homework:
6.
16.3课程目标
(1)
(2)Inversemanipulatorkinematics2Masterthesolvabilityanalysis.Thenotionofmanipulatorsubspacewhenn
6.AlgebraicVS.geometric.Knowhowtogetthealgebraicsolutionbyreductionkinematicstopolynomial.Thesemustbestudied.Introduceothers.Keypointsofthischapter课程目标
(1)
(2)aretheexamplesofinversemaniplulatorkinematics.Homework:
6.11614Manipulatordynamics4Masterhowtocalculatetheaccelerationofarigidbodyandthemassdistribution.EstablishtheNewtonsequationEulersequationanditerativeNewton-Eulerdynamicsformulation.Thesemustbestudied.Introduceothers.Keypointsofthischapteraretheexamplesofclosed-formdynamicsequations.Homework:
7.
17.
118.
28.4课程目标12Linearcontrolofmanipulator4Analyzethefeedbackandclosed-loopcontrolstructureofsecond-orderlinearsystems.Designthecontrolschemeforthesecond-ordersystems.Andsimulatethetrajectory-followingcontrol.Introduceothers.Keypointofthischapteristhecontrolofsecond-ordersystems.Homework:
10.
110.
610.9课程目标23Nonlinearcontrolofmanipulator2Understandtheconceptofnonlinearandtime-varyingsystemsmulti-inputmulti-outputcontrolsystems.Usethecontrolknowledgetothecontrolproblemformanipulators.Introduceothers.Keypointofthischapteristhemulti-inputmulti-outputcontrolsystems.Designthehardwarestructuresatisfyingthecontroldemand.Homework:
10.13课程目标23Trajectorygeneration4Understandwhatshouldbethegeneralconsiderationsinpathdescriptionandgeneration.Introduceothers.Keypointsofthischapterarethejoint-spaceschemesandCartesian-spaceschemes.Homework:
11.
511.
612.1课程目标2考核形式考核内容占比评定标准过程考核平时作业成绩考核课堂教学各知识点的理解程度、听课效果和掌握熟练度10%根据与参考答案一致性评定为五级课堂表现成绩以到课率,课堂互动回答问题等形式,检验学生学习态度10%中国计量学院学生课程平时成绩考核细则实验成绩考核知识点的应用情况和实际编程能力20%实验指导书期末考核期末考试成绩采用开卷考试,试卷涵盖课程讲授范围题型有判断、选择、简答、模型求解以及工业机器人应用案例设计等60%试卷参考答案和评分标准。