Course : 493.601 Convergent Robotics Technology
Credits Department Instructor Attachment
Position Name
3 Program in Intelligent Systems Park, Jaeheung English
Korean
Prerequisite Course
1. Goals
This course is to provide the essential materials in robotics for convergence technologies. The topics include kinematics, dynamics, task redundancy, robot control in joint space and task space. There will be a term project where students will form a group and design a robot to perform dynamic tasks.
2. Texts and References
3. Evaluation
Attendance(%) Task(%) Medium(%) Final(%) Random Evaluation(%) Attitude(%) Others(%) Total(%)
10% 30% 20% 30% 5% 5% 0% 100%
Remark :
4. Lecture Plan
(Korean)
[ 1 주 ]
Introduction to Convergent Robotics
[ 2 주 ]
Spatial Description of Robot and Task
[ 3 주 ]
Forward Kinematics
[ 4 주 ]
Jacobians: Velocities, Explicit Form, Static Forces
[ 5 주 ]
Singularities and Force-Torque Relationship
[ 6 주 ]
Inverse Kinematics, Trajectory Planning
[ 7 주 ]
Dynamics: Inertial Properties and Explicit Form
[ 8 주 ]
중간고사
[ 9 주 ]
Joint Space Control of Robot, Project Discussion
[ 10 주 ]
Task Space Control
[ 11 주 ]
Compliant Motion Control, Project Finalization
[ 12 주 ]
Velocity Saturation and Obstacle Avoidance
[ 13 주 ]
Task Redundancy: Kinematics, Control
[ 14 주 ]
Project Presentation
[ 15 주 ]
기말고사
(English)
[ 1 Week ]
Introduction to Convergent Robotics
[ 2 Week ]
Spatial Description of Robot and Task
[ 3 Week ]
Forward Kinematics
[ 4 Week ]
Jacobians: Velocities, Explicit Form, Static Forces
[ 5 Week ]
Singularities and Force-Torque Relationship
[ 6 Week ]
Inverse Kinematics, Trajectory Planning
[ 7 Week ]
Dynamics: Inertial Properties and Explicit Form
[ 8 Week ]
Midterm
[ 9 Week ]
Joint Space Control of Robot, Project Discussion
[ 10 Week ]
Task Space Control
[ 11 Week ]
Compliant Motion Control, Project Finalization
[ 12 Week ]
Velocity Saturation and Obstacle Avoidance
[ 13 Week ]
Task Redundancy: Kinematics, Control
[ 14 Week ]
Project Presentation
[ 15 Week ]
Final Exam
5. Guideline for Students