Numbering Code	G-ENG05 6B407 LB71	Year/Term	2022 ・ Second semester
Number of Credits	2	Course Type	Lecture
Target Year		Target Student
Language	Japanese	Day/Period	Mon.2
Instructor name	MATSUNO FUMITOSHI (Graduate School of Engineering Professor)
Outline and Purpose of the Course	Understanding of intelligent behaviors of living things is very interesting. And realization of their intelligent motion by a robot is also attractive for mechanical engineering. In this lecture, we consider basic understanding of beautiful human skill “manipulation” on the point of view of dynamics and control. First modeling methodologies for a rigid multibody system and a general dynamic model of a manipulator are provided. Next, a typical nonlinear control law is introduced and some problems for applying the controller are shown. Based on nature of the dynamics of the manipulator, a very simple and robust controller can be derived by designing energy of the system. This lecture provides modeling methodologies and controller design strategies of the rigid multibody system and we analyze a beautiful human skill of the manipulation.
Schedule and Contents	,1time, ,4times, ,1time, ,3times, ,3times, ,2times, ,1time,
Course Requirements	None
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