3. 강의목표
This introductory course targets students with no prior knowledge of robotics, aiming to provide learning opportunities through basic theory and practical exercises. In this course, students will learn the fundamental principles of robotics, including how to operate 6-axis articulated robots through position control, as well as simulation techniques within virtual reality based on a physics engine.
이 입문 과정은 로봇 공학에 대한 사전 지식이 없는 학생들을 대상으로 하며, 기본 이론과 실습을 통한 학습 기회를 제공하는 것을 목표로 합니다. 이 과정에서 학생들은 로보틱스의 기본 원리를 배우게 되며, 위치 제어를 통해 6축 다관절 로봇을 조작하는 방법 뿐만 아니라, 물리 엔진을 기반으로 한 가상 현실 내에서의 시뮬레이션 기술에 대해서도 학습하게 됩니다.
4. 강의선수/수강필수사항
MATH120: Linear Algebra
CSED101: Programming
Recommended (but not mandatory) MECH323: System Control
5. 성적평가
Midterm Exam (20%)
Final Exam (30%)
Assignments (10%)
Project (40%)
6. 강의교재
| 도서명 |
저자명 |
출판사 |
출판년도 |
ISBN |
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Handouts will be uploaded at PLMS.
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0000
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7. 참고문헌 및 자료
Handouts will be uploaded at PLMS.
8. 강의진도계획
(week1) Introduction & Rigid Body Rotation
(week2) Euler Angle
(week3) Rigid Body Motion (Homogeneous Representation)
(Week4) D-H Notation
(week5) Forward Kinematics
(week6) Inverse Kinematics
(week7) Robot Practice
(week8) Mid-Term Exam
(week9) Jacobian (Rate Kinematics)
(week10) Jacobian (Rate Kinematics)
(week11) Lie-Group, Lie-Algebra, & Screw Theory
(week12) PID Control with DOB (week13) Robot Practice
(week14) Robot Practice
(week15) Project Demonstration Day
(week16) Final Exam
9. 수업운영
- In-person classes (default) + Online in case of prior notice.
- Practical Training (Engineering Building 5, Robotics Lab).
- This course is graded on a letter-grade basis only. S/U (Satisfactory/Unsatisfactory) or auditing is not permitted.
- Students visiting from other institutions are encouraged to consult with the professor before enrolling in the course.
10. 학습법 소개 및 기타사항
Do not miss the practical training.
11. 장애학생에 대한 학습지원 사항
- 수강 관련: 문자 통역(청각), 교과목 보조(발달), 노트필기(전 유형) 등
- 시험 관련: 시험시간 연장(필요시 전 유형), 시험지 확대 복사(시각) 등
- 기타 추가 요청사항 발생 시 장애학생지원센터(279-2434)로 요청