3. 강의목표
This lecture provides 1) mathematical knowledge for advanced level robotic manipulation including mathematical description of robot kinematics, redundancy and optimization, and 2) advanced robust control theories including H-infinity control, robust internal loop compensator, and passivity-based control.
By the end of the course, you should be able to:
- Understand how to mathematically describe robotic manipulators including redundant manipulators and parallel manipulators.
- Understand how to implement advanced robust controllers in robotic manipulators.
4. 강의선수/수강필수사항
This is an advanced robotics course. You must have a sufficient understanding of linear algebra (MATH120), system control (MECH323), and robotics (MECH490M or MECH439).
5. 성적평가
Exam: 80%, Attendance: 20%
7. 참고문헌 및 자료
Lecture notes and handouts will be provided.
8. 강의진도계획
Week 1: Introduction of advanced robotics
Week 2: Mathematical description of robotic manipulation.
Week 3: Mathematical description of robotic manipulation.
Week 4: Rigid body motion
Week 5: Manipulator kinematics
Week 6: Manipulator kinematics
Week 7: Manipulator kinematics
Week 8: Redundancy
Week 9: Optimization
Week 10: Mid-Term Exam
Week 11: Advanced robust control
Week 12: Advanced robust control
Week 13: Advanced robust control
Week 14: Advanced robust control
Week 15: Advanced robust control
Week 16: Final Exam
9. 수업운영
You are strongly recommended to attend all classes since it is difficult to keep up with them without instruction.
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