《机器人技术》教学大纲.docxVIP

《机器人技术》课程教学大纲 课程英文 名 Robot technology 课程 代码 A0803Z05 学分 2 总学时 32 理论学时 32 实验/实践 学时 0 课程类别 专业教育课 课程性 质 选修课 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 自动化及其相关专业 开课学院 机电工程学院 一、课程的地位与任务 Use of the industrial robot, which became identifiable as a unique device in 1960s, along with computer-aided design (CAD) systems and computer-aided manufacturing (CAM) systems, characterizes the latest trends in the automation of the manufacturing process. This course focuses on the mechanics and control of the most important form of the industrial robot, the mechanical manipulator. This course will give introduction to robotics to students. In this course, students will study robot kinematics, dynamics, Jacobians matrix, and trajectory generation, linear control of manipulator and nonlinear control of manipulator. Robotics is very important to develop and use the robots. So this course is very useful to automation filed students, can make them master new robot technology of automation. 二、课程目标 .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； .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示例，并在MATLAB中进行仿真验证； .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， 掌握典型的应用场景。 表1课程目标与相关毕业要求的对应关系 课程目标 毕业要求(支撑程度H、M、L) 2-3 3-3 5-3 12-2 课程目标(1) M L 课程目标(2) L L H 课程目标(3) M 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)； 2 .毕业要求须根据课程所在专业培养方案进行描述。 三、课程主要内容与基本要求 Introduction to robotics and the serial mechanism robot arm Background of robot, the mechanics and control of mechanical manipulators and robot arm, notation of robotics . The actuator and sensors for robots Introduce the pneumatic, hydraulic, motor actuators and the sensors for position, gesture, velocity, accelerator and force, torque. Spatial descriptions and transformations Descriptions: spatial positions, orientations, and frames. Mappings: changing descriptions from frame to frame. Operators: translations, rotations, and transformations. Summary of interpretations transformation arithmetic and transform equations. More on representation of orientatio