《機(jī)器人技術(shù)》課程教學(xué)大綱(本科)

《機(jī)器人技術(shù)》課程教學(xué)大綱課程英文名Robottechnology課程代碼01M0047學(xué)分2總學(xué)時(shí)32理論學(xué)時(shí)32實(shí)驗(yàn)/實(shí)踐學(xué)時(shí)課程類別專業(yè)教育課課程性質(zhì)選修先修課程《自動(dòng)控制原理》《現(xiàn)代控制理論》《運(yùn)動(dòng)控制系統(tǒng)》適用專業(yè)電氣工程及其自動(dòng)化、自動(dòng)化及其相關(guān)專業(yè)開(kāi)課學(xué)院機(jī)電工程學(xué)院~執(zhí)筆人― 、mH=?>rz—r-t1r_*__.——審定人制定時(shí)間2020年12月；、課程地位與（-）課程地位Useoftheindustrialrobot,whichbecameidentifiableasauniquedevicein1960s,alongwithcomputer-aideddesign（CAD）systemsandcomputer-aidedmanufacturing（CAM）systems,characterizesthelatesttrendsintheautomationofthemanufacturingprocess.Thiscoursefocusesonthemechanicsandcontrolofthemostimportantformoftheindustrialrobot,themechanicalmanipulator.Thiscoursewillgiveintroductiontoroboticstostudents.Inthiscourse,studentswillstudyrobotkinematics,dynamics,Jacobiansmatrix,andtrajectorygeneration,linearcontrolofmanipulatorandnonlinearcontrolofmanipulator.Roboticsisveryimportanttodevelopandusetherobots.Sothiscourseisveryusefultoelectricalengineeringandautomationfiledstudents,canmakethemmasternewrobottechnologyofautomation.（二）課程目標(biāo).介紹我國(guó)機(jī)器人發(fā)展現(xiàn)狀，圍繞智能制造、機(jī)器人領(lǐng)域全面提升國(guó)家的實(shí)力，提升學(xué)生的思想政治覺(jué)悟、增強(qiáng)民族自信和專業(yè)自信，會(huì)通過(guò)文獻(xiàn)研究尋求可替代的解決方案；（支撐畢業(yè)要求2-3M）.理解機(jī)器人的基本概念，掌握建立六自由度機(jī)器人系統(tǒng)的建模方法，理解牛頓歐拉和拉格朗日動(dòng)力學(xué)方法優(yōu)劣；（支撐畢業(yè)要求1-1M）.熟練機(jī)器人的運(yùn)動(dòng)控制相關(guān)的模型、控制算法等，并利用MATLAB對(duì)算法效果進(jìn)行評(píng)估，能通過(guò)網(wǎng)絡(luò)獲取開(kāi)源的機(jī)器人工程示例，并在MATLAB中進(jìn)行仿真驗(yàn)證，有效提高學(xué)生的工程素質(zhì)。（支撐畢業(yè)要求5-3M）.理解機(jī)器人在復(fù)雜系統(tǒng)中的應(yīng)用方法，包含完整的機(jī)構(gòu)選型、檢測(cè)、控制和規(guī)劃等，掌握典型的工業(yè)機(jī)器人應(yīng)用場(chǎng)景。課程緊密結(jié)合未來(lái)工業(yè)機(jī)器人以及智能制造發(fā)展，樹(shù)立安全意識(shí)，團(tuán)結(jié)協(xié)作的品質(zhì)以及工匠精神，為工業(yè)機(jī)器人編程應(yīng)用相關(guān)工作奠定基礎(chǔ)。（支撐畢業(yè)要求9-2M）二、課程目標(biāo)達(dá)成的途徑與方法《機(jī)器人技術(shù)》教學(xué)以課堂教學(xué)為主，并結(jié)合自主學(xué)習(xí)、典型案例分析和作業(yè)練習(xí)。（1）課堂教學(xué)主要講述工業(yè)機(jī)器人基本概念、典型機(jī)構(gòu)、建模方法、控制和規(guī)劃方法等。（2）案例分析主要針對(duì)六自由度機(jī)器人運(yùn)動(dòng)學(xué)建模、動(dòng)力學(xué)建模、控制系統(tǒng)搭建、運(yùn)動(dòng)規(guī)劃算法及其仿真等。（3）通過(guò)課堂提問(wèn)、交流和作業(yè)使得學(xué)生獲得熟練掌握機(jī)器人技術(shù)的基本知識(shí)。三、課程目標(biāo)與相關(guān)畢業(yè)要求的對(duì)應(yīng)關(guān)系注：1.支撐強(qiáng)度分別填寫H、M或L（其中H表示支撐程度高、M為中等、L為低）；課程目標(biāo)畢業(yè)要求（支撐程度H、M、L）畢業(yè)要求1-1畢業(yè)要求2-3畢業(yè)要求5-3畢業(yè)要求9-2課程目標(biāo)（1）M課程目標(biāo)（2）M課程目標(biāo)（3）MM課程目標(biāo)~（4）2?畢業(yè)要求須根據(jù)課程所在專業(yè)培養(yǎng)方案進(jìn)行描述。四、課程主要內(nèi)容與基本要求IntroductiontoroboticsandtheserialmechanismrobotarmBackgroundofrobot,themechanicsandcontrolofmechanicalmanipulatorsandrobotarm,notationofrobotics.TheactuatorandsensorsforrobotsIntroducethepneumatic,hydraulic,motoractuatorsandthesensorsforposition,gesture,velocity,acceleratorandforce,torque.SpatialdescriptionsandtransformationsDescriptions:spatialpositions,orientations,andframes.Mappings:changingdescriptionsfromframetoframe.Operators:translations,rotations,andtransformations.Summaryofinterpretationstransformationarithmeticandtransformequations.Moreonrepresentationoforientation.Computationalconsiderations.ManipulatorkinematicsThischapterincludesthefollows.Linkdescription.Link-connectiondescription.Conventionfortheaffixingframestolinks.Manipulatorkinematics.Actuatorspace,jointspace,andCartesianspace.Examples:kinematicsoftwoindustrialrobots.Frameswithstandardnames.Computationalconsiderations.InversemanipulatorkinematicsPayattentiontothesolvability.Thenotionofmanipulatorsubspacewhenn<6.AlgebraicVS.geometric.Algebraicsolutionbyreductiontopolynomial.Pieper'ssolutionwhenthreeaxesintersect.Examplesofinversemanipulatorskinematics.Thestandardframes.Solvingamanipulatorcase.ManipulatordynamicsThischapterincludesthefollows.Accelerationofarigidbody.Massdistribution.Newton'sequation,Euler'sequation.IterativeNewton-Eulerdynamicsformulation.IterativeVS.closedform.Anexampleofclosed-formdynamicsequations.Thestructureofamanipulator'sdynamicequations.Lagrangianformulationofmanipulatordynamics.Dynamicssimulation.LinearcontrolofmanipulatorsThischapterincludesthefollows.Feedbackandclosed-loopcontrol.Second-orderlinearsystems.Controlofsecond-ordersystems.Control-lawpartitioning.Trajectory-followingcontrol.Disturbancerejection.ContinuousVS.discretetimecontrol.Modelingandcontrolofasinglejoint.Architectureofanindustrial-robotcontroller.NonlinearcontrolofmanipulatorsandcontrollerhardwareThischapterincludesthefollows.Nonlinearandtime-varyingsystems.Multi-input,multi-outputcontrolsystems.Thecontrolproblemformanipulators.Practicalconsiderations.Currentindustrial-robotcontrolsystems.Lyapunovstabilityanalysis.Cartesian-basedcontrolsystems.Adaptivecontrol.Whathardwarecanbeusedasthecontrollerformanipulators.TrajectorygenerationThischapterincludesthefollows.Generalconsiderationsinpathdescriptionandgeneration.Joint-spaceschemes.Cartesian-spaceschemes.GeometricproblemswithCartesianpaths.Pathgenerationatruntime.Descriptionofpathswitharobotprogramminglanguage.五、課程學(xué)時(shí)安排章節(jié)號(hào) 教學(xué)內(nèi)容學(xué)生任務(wù)學(xué)時(shí)數(shù)對(duì)應(yīng)課程目

標(biāo)Introductionand第1-4章actuator,sensors4寸一， 「課程目標(biāo)Knowhistoryofrobotandbasicknowledgeof木"日們manipulator.Keypointsofthischapterarethe(1)(2)mechanicsandcontrolofmanipulators.Knowthecoordinationsystem,drivenmethod,controlstructureandprogramlanguagefortheserialmechanismrobotarm.Selecttheappropriateactuatorandsensorsforthespecialapplicationrobots.Mastertheworkingprincipleoftheactuatorsandsensors.Homework:1.11,1.14,2.8,2.13,2.14,3.1,3.5,3.15,4.17-20第5章Spatial 6Masterthepositions,orientations,andframes,課程目標(biāo)descriptionsandtransformation6.1Manipulator4kinematicsmappings:changingdescriptionsfromframeto-(1)(2)frame.Thetranslations,rotations,andtransformationsmustbestudied.Introduceothers.Keypointsofthischapterarethepositions,orientationsandframesdescriptions.Homeworks.3,5.5,5.8,5.9,Example5.24課程目標(biāo)V1 1.1 1 .. 1.1 , (2)(3)Masterthelinkdescription,link-connection第6章6.2Inversemanipulatorkinematics2第6章description,conventionforaffixingframestolinks,manipulatorkinematics,actuatorspace,jointspace,andCartesianspace.Introduceothers.Keypointsofthischapteraremanipulatorkinematics.Homework:6.1,6.3Masterthesolvabilityanalysis.Thenotionof課程目標(biāo)manipulatorsubspacewhenn<6.AlgebraicVS.(2)(3)geometric.Knowhowtogetthealgebraicsolutionbyreductionkinematicstopolynomial.Thesemustbestudied.Introduceothers.Keypointsofthischapteraretheexamplesofinversemaniplulatorkinematics.Homework:6.11,6,14第8章Manipulatordynamics8.InertiaProperties8.2Euler-LarangeFormulation4Masterhowtocalculatetheaccelerationofarigidbodyandthemassdistribution.EstablishtheNewton'sequation,Euler'sequation,anditerativeNewton-Eulerdynamicsformulation.Thesemustbestudied.Introduceothers.Keypointsofthischapteraretheexamplesofclosed-formdynamicsequations.Homework:7.1,7.11,8.2,8.4,課程目標(biāo)(2)(3)第10草:10.1Linearcontrolofmanipulator4第1010.7Nonlinearcontrolofmanipulator21Analyzethefeedbackandclosed-loopcontrol

structureofsecond-orderlinearsystems.Designthe

controlschemeforthesecond-ordersystems.And

simulatethetrajectory-followingcontrol.Introduce

others.Keypointofthischapteristhecontrolof

second-ordersystems.Homework:10.1,10.6,10.9

Understandtheconceptofnonlinearandtime-

varyingsystems,multi-input,multi-outputcontrol

systems.Usethecontrolknowledgetothecontrol

problemformanipulators.Introduceothers.Key

pointofthischapteristhemulti-input,multi-output

controlsystems.課程目標(biāo)(3)(4)課程目標(biāo)