《机器人技术》课程教学大纲（本科）

《机器人技术》课程教学大纲课程英文名Robottechnology课程代码01M0047学分2总学时32理论学时32实验/实践学时课程类别专业教育课课程性质选修先修课程《自动控制原理》《现代控制理论》《运动控制系统》适用专业电气工程及其自动化、自动化及其相关专业开课学院机电工程学院执笔人审定人制定时间2020年12月注：课程类别是指公共基础课/学科基础课/专业课；课程性质是指必修/限选/任选。一、课程地位与课程目标（-）课程地位Useoftheindustrialrobot,whichbecameidentifiableasauniquedevicein1960s,alongwithcomputer-aideddesign（CAD）systemsandcomputer-aidedmanufacturing（CAM）systems,characterizesthelatesttrendsintheautomationofthemanufacturingprocess.Thiscoursefocusesonthemechanicsandcontrolofthemostimportantformoftheindustrialrobot,themechanicalmanipulator.Thiscoursewillgiveintroductiontoroboticstostudents.Inthiscourse,studentswillstudyrobotkinematics,dynamics,Jacobiansmatrix,andtrajectorygeneration,linearcontrolofmanipulatorandnonlinearcontrolofmanipulator.Roboticsisveryimportanttodevelopandusetherobots.Sothiscourseisveryusefultoelectricalengineeringandautomationfiledstudents,canmakethemmasternewrobottechnologyofautomation.（二）课程目标.介绍我国机器人发展现状，围绕智能制造、机器人领域全面提升国家的实力，提升学生的思想政治觉悟、增强民族自信和专业自信，会通过文献研究寻求可替代的解决方案；（支撑毕业要求2-3M）.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；（支撑毕业要求1-1M）.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工程示例，并在MATLAB中进行仿真验证，有效提高学生的工程素质。（支撑毕业要求5-3M）.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，掌握典型的工业机器人应用场景。课程紧密结合未来工业机器人以及智能制造发展，树立安全意识，团结协作的品质以及工匠精神，为工业机器人编程应用相关工作奠定基础。（支撑毕业要求9-2M）二、课程目标达成的途径与方法《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。三、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）;课程目标毕业要求（支撑程度H、M、L）毕业要求1-1毕业要求2-3毕业要求5-3毕业要求9-2课程目标（1）M课程目标（2）M课程目标（3）MM课程目标（4）2.毕业要求须根据课程所在专业培养方案进行描述。四、课程主要内容与基本要求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、课程学时安排

章节号教学内容学时数学生任务对应课程目标第1-4章Introductionandactuator,sensors4Knowhistoryofrobotandbasicknowledgeofmanipulator.Keypointsofthischapterarethemechanicsandcontrolofmanipulators.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课程目标(1)(2)第5章Spatial6Masterthepositions,orientations,andframes,课程目标descriptionsandtransformationmappings:changingdescriptionsfromframetoframe.Thetranslations,rotations,andtransformationsmustbestudied.Introduceothers.Keypointsofthischapterarethepositions,orientationsandframesdescriptions.Homeworks.3,5.5,5.8,5.9,Example5.24(1)(2)第6章6.1Manipulatorkinematics4Masterthelinkdescription,link-connectiondescription,conventionforaffixingframestolinks,manipulatorkinematics,actuatorspace,jointspace,andCartesianspace.Introduceothers.Keypointsofthischapteraremanipulatorkinematics.Homework:6.1,6.3课程目标(2)(3)第6章6.2Inversemanipulatorkinematics2Masterthesolvabilityanalysis.Thenotionofmanipulatorsubspacewhenn<6.AlgebraicVS.geometric.Knowhowtogetthealgebraicsolutionbyreductionkinematicstopolynomial.Thesemustbestudied.Introduceothers.Keypointsofthischapteraretheexamplesofinversemaniplulatorkinematics.Homework:6.11,6,14课程目标(2)(3)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,课程目标(2)(3)第10草:10.1Linearcontrolofmanipulator4Analyzethefeedbackandclosed-loopcontrolstructureofsecond-orderlinearsystems.Designthecontrolschemeforthesecond-ordersystems.Andsimulatethetrajectory-followingcontrol.Introduceothers.Keypointofthischapteristhecontrolofsecond-ordersystems.Homework:10.1,10.6,10.9课程目标(3)(4)第1010.7Nonlinearcontrolofmanipulator2Understandtheconceptofnonlinearandtime-varyingsystems,multi-input,multi-outputcontrolsystems.Usethecontrolknowledgetothecontrolproblemformanipulators.Introduceothers.Keypointofthischapteristhemulti-input,multi-outputcontrolsystems.课程目标(3)(