Stundents in this experiment will develop a task strategy for robotics tasks such as peg-in-hole insertion, crank turning, and jaggling. Then, they will realize the developed strategy on a 6 d.o.f. mechanical manipulator so that the manipulator can perform the given task. (Dept.Robotics, B3)
1st | Introduction of experimental setup | |
2nd, 3rd | Position/trajectory control by teaching-and-playback | |
4th - 6th | Trajectory/impedance control | |
7th - 9th | Force/impedance control | |
10h - 14th | Task realization and contest |
Evaluation: | attendance record and reports |
Textbook: | handouts |
Teaching-and-playback (MPEG 1.0MB) |
Explanation on trajectory plan for irritating bar game (MPEG 18.5MB) |
Robot Task Experiment Task Realization Contest |
Task Realization Contest Specified Task |
Teaching-and-playback (irritating bar game) |
Teaching-and-playback (irritating bar game) |
Trajectroy/force/ impedance control (rolling a roller) |
Trajectroy/force/ impedance control (rolling a roller) |