ロボット工学教育実験システムの開発

抄録

In proportion to the generalization of robots, tutorial on robotics plays an important role in university. This paper presents a basic system of instruction for robotics and manipulator. The system is intended to be applied to a students' lab. The authors have selected a compact three-joint manipulator for a tutorial program. The manipulator is designed to be an entry machine for robotics research, which enables easy handling and real-time calculation of kinematics.
The tutorial program has three levels. Level 1 is a tutorial on basic servo system. In this course, the student is instructed in the step and frequency response characteristics. Study on nonlinearity is included in the course. Level 2 introduces the student to dynamic control. The emphasis of this course is on the effect of compensation for gravitational and inertial forces. Level 3 introduces the student to an application of the manipulator to a workspace. In this course, the student is instructed in PTP operation and trajectory planning.
Performance of the system is evaluated by junior year students in University of Tsukuba. Through the experiments, the thought process of the students is investigated by protocol analysis.