《机器人学导论》教学大纲

一、课程基本信息

课程名称/英文名称: 机器人学导论/Introduction to Robotics 课程代码: CS183
课程层次: 本科生课程 学 分/学 时: 4/64
主要面向专业: , 授课语言: 中英文
先修课程: 无 建议先修课程说明: Mathematical Analysis II，Linear Algebra
开课单位: 信息科学与技术学院 课程负责人: 刘松

二、课程简介

机器人被誉为“制造业皇冠顶端上的明珠”，而“机器人学导论”是机器人领域的入门级与基础课程。机器人研究涵盖机械、电子、控制、材料等众多学科，是典型的多学科交叉领域。本课程从控制的角度系统全面地介绍机器人学的基础知识，当前的发展状况及研究热点，为学生将来从事机器人相关技术或科研工作奠定必要的理论基础。本课程在逻辑上分为三个部分，分别是基础篇、控制结构篇和先进控制篇。基础篇着重介绍串联关节机器人的机构学、运动学、运动规划和动力学。其中，动力学部分从坐标变换入手，介绍了正向运动学方程的建立、逆向运动学的求解、机器人的微分运动以及雅可比矩阵等内容。控制结构篇着重介绍机器人的传感技术、位置控制和力控制等。针对机器人控制领域的研究动态和主要研究方向。先进控制篇介绍了传感信息融合、视觉控制、协调控制、移动机器人技术、智能控制方法等。本课程以关节机器人为主，同时兼顾了移动机器人的控制问题，注重理论与应用的结合，力求学生能够尽快掌握机器人控制技术，了解机器人控制的主要研究方向。

三、课程教学目标

知识认知能力：能够从控制角度入手了解和掌握机器人相关的技术基础和基础知识，包括机器人结构学，机器人运动学与微分运动学，机器人动力学，机器人运动规划，机器人传感技术，机器人位置控制与力控制，传感信息融合方法，视觉控制方法，多机器人协调控制方法，移动机器人核心知识，以及在机器人领域得到成功应用的智能控制方法等。
综合素质能力：能理解科研活动的道德和规范，具备科学精神和工程师的基本素质，具备科技报国的家国情怀和使命担当；能进行团队协作，具备合作精神和人际沟通能力。

四、课程教学方法

课堂讲授与讨论：机器人学导论课程以课堂讲授为主，在讲解基本知识的基础上，关注课程重点难点内容的讲授，采用启发式教学方法，引导学生对问题展开思考和讨论，使学生从数学概念、物理概念、以及工程概念出发分析和解决机器人领域的相关问题。
案例教学：通过多种不同类型工业机器人的工程实例讲解，使学生在掌握课程基本理论和方法的同时，理解课程知识在工程的实际应用，激发学生的研究兴趣，启迪学生的创新思维。

五、课程教学内容与安排

以教学周方式安排教学内容

教学周

主要教学内容

（主要知识点）

教学周

学时安排

教学方法

（仅列名称）

1 绪论

基本概念，研究领域，特点与基本结构，主要学术期刊与会议等

1

4

课堂教学、课后作业、讨论课、随堂测试

2 机器人运动学

位置与姿态表示，坐标变换，通用旋转矩阵，连杆变换矩阵，机器人正向运动学，逆向运动学，微分运动学

2&3

8

课堂教学、课后作业、讨论课、随堂测试

3 机器人运动规划

运动形式，关节空间运动规划，笛卡尔空间运动规划，移动机器人的路径规划

4&5

8

课堂教学、课后作业、讨论课、随堂测试

4 机器人动力学

拉格朗日-欧拉法，牛顿-欧拉法

6

4

课堂教学、课后作业、讨论课、随堂测试

5 机器人传感器

位置传感器，速度与加速度传感器，陀螺，力与力矩传感器，接近传感器，地磁场传感器，距离传感器，视觉传感器，触觉传感器

7

4

课堂教学、课后作业、讨论课、随堂测试

6 机器人位置控制

关节空间位置控制，笛卡尔空间位置控制，基于网络的机器人位置实时控制，移动机器人位置控制

8&9

6

课堂教学、课后作业、讨论课、随堂测试

期中考试

9

9

2

随堂测试、开卷

7 机器人力控制

刚度与柔顺，静力控制，阻抗控制主动柔顺，力位混合控制

10

4

课堂教学、课后作业、讨论课、随堂测试

8 机器人信息融合

信心融合的主要方法，移动机器人多传感器融合

11

4

课堂教学、课后作业、讨论课、随堂测试

9 机器人视觉测量与控制

视觉系统模型，立体视觉，基于位置的机器人视觉控制，基于图像的视觉伺服控制

12&13

8

课堂教学、课后作业、讨论课、随堂测试

10 多机器人协调与控制

多机器人协调与控制基础理论与关键技术

14

4

课堂教学、课后作业、讨论课、随堂测试

11 移动机器人定位与导航

移动机器人定位与导航基础理论关键技术

15

4

课堂教学、课后作业、讨论课、随堂测试

12 机器人先进控制方法

滑膜变结构控制，预测控制，自适应控制，模糊控制，神经网络算法

16

4

课堂教学、课后作业、讨论课、随堂测试

六、考核方式和成绩评定方法

课堂表现 10% + 作业与随堂测试 30% + 期中考试 30% + 期末考试 30%

七、教材和参考书目

(一)、推荐教材

书名 作者 译者 出版社 出版年月 ISBN 版次
先进机器人控制 谭民 高等教育出版社 2007-05 9787040208832 1

(二)、参考书目

书名 作者 译者 出版社 出版年月 ISBN 版次
“Introduction to Robotics: Mechanics and Control”, 4th Edition John J. Craig Pearson 9780133489798

八、学术诚信教育

本课程高度重视学术诚信，严禁抄袭、作弊等行为。
“在学习、科研、实习实践等活动中，学生应恪守学术道德，坚守学术诚信，保护知识产权，坚持勇于创新、求真务实的科学精神，努力培养自己严谨求实、诚实自律、真诚协作的科学态度，成为良好学术风气的维护者、严谨治学的力行者、优良学术道德的传承者。”
（具体请参见《上海科技大学学生学术诚信规范与管理办法（试行）》文件要求）

九、其他说明(可选)


				

			

			
				
	













	

		
			
《Introduction to Robotics》Syllabus

			
1.Basic course information

			

				

					 course name
					 Introduction to Robotics
					 course code
					 CS183
				

				

					 Course Level
					 Undergraduate
					 Credit/Contact Hour:
					 4/64
				

				

					 Major:
					 
 							
 							,
 							
 							
					 
					 Teaching Language
					 Chinese and English
				

				

					Prerequisite
					
		NULL
						
					
					Prerequisite suggestion
					
						Mathematical Analysis II，Linear Algebra
					
				

				

					 School/Institute
					 School of Information Science and Technology
					 Instructor
					 liusong
				

			

			
2.Course Introduction

			

				

					
This course is dedicated for senior undergraduate students with basic knowledge over control theory, mechanical engineering, and/or cyber-physical systems, which provides a comprehensive overview of fundamentals of robotics from the control perspective. This course primarily consists of three sections, which covers most of the important topics related to robotics, like robotics prototypes, kinematics and inverse kinematics, dynamics, robotic motion planning, robotic position and velocity control, robot force/torque control, robot sensors and sensing fusing, and mobile robot localization and navigation, etc. Advanced robotic topics, like visual measurement and servo control, multi-robot system coordination will be also introduced. This course aims at providing students with the hand-on knowledge to develop a potential engineering or research career in robot field in future, and serves as fundamental course for advanced robot courses.

				

			

			
			
3.Learning Goal

			

				

					
Cognitive competence: Students are expected to systematically and comprehensively master the fundamental technologies and knowledge in robotics from the control perspective, including but not limited to robot mechanism, robot kinematics and differential kinematics, robot motion planning and dynamics, robot position and velocity control, robot force/torque control, robot sensors and sensing fusing, robot vision and robot visual servo control, multi-robot coordination, mobile robot localization and navigation, and the most well know intelligent control methods, etc.
Comprehensive qualities: Students are expected to master the fundamental engineering morals and ethics, and show up great potentials to be a research scientist or engineer with great capability on teamwork and coordination.

				

			

			
			
4.Instructional Pedagogy

			

				

					
On-class teaching and discussion: This course mainly takes the form of on-class teaching. On the basis of explaining the basic knowledge, particular attention is focused on the teaching of key and difficult contents of the course. This course adopts heuristic teaching method to guide students to think and discuss the problems, so that students can analyze and solve related problems in the field of robotics from the mathematical, physical and engineering perspectives.
Case Study: By demonstrating different mature industrial robots as case study, this course enables students to master the basic theories and methods of the course, understand the practical application of the course knowledge in engineering, stimulate students’ interest in research, and inspire students’ innovative thinking.

				

			

			
			
5. Course Content and Schedule

			

				

					
Course Structure by Chapter
Chapter
Teaching Contents
Week
Contact Hours
Teaching Modes
Introduction
Fundamentals, research topics, features and structures, related conferences and journals
1
4
On-class teaching, homework, on-class quiz and discussion
Kinematics
Pose representation, coordinate transformation, rotation matrix, forward kinematics, inverse kinematics, differential kinematics
2&3
8
On-class teaching, homework, on-class quiz and discussion
Motion Planning
Motion planning in joint space, motion planning in Cartesian space, path planning for mobile robots
4&5
8
On-class teaching, homework, on-class quiz and discussion
Dynamics
Language-Euler Method, Newton-Euler Method
6
4
On-class teaching, homework, on-class quiz and discussion
Sensors
Position/velocity/acceleration sensors, gyro, force/torque senor, visual sensor, touch sensor, etc
7
4
On-class teaching, homework, on-class quiz and discussion
Position Control
Position control in joint space /Cartesian space, real-time position control for network-based robot, position control for mobile robot 
8&9
6
On-class teaching, homework, on-class quiz and discussion
Mid-term Exam 
9
9
2
On-class Exam, open-book exam
Force/Torque
Control
Stiffness and compliance, statistic force control, impedance control, active compliance, hybrid force/position control
10
4
On-class teaching, homework, on-class quiz and discussion
Sensing Fusion
Key sensing information fusing methods
11
4
On-class teaching, homework, on-class quiz and discussion
Visual Measurement
and Control
Mathematical model, stereoscopic, position based visual servo control, image based visual servo control 
12&13
8
On-class teaching, homework, on-class quiz and discussion
Multi-robot Interaction
Fundamental concepts and key technologies in multi-robot interaction
14
4
On-class teaching, homework, on-class quiz and discussion
Mobile Robot Localization and Navigation
Fundamental concepts and key technologies in Mobile Robot Localization and Navigation 
15
4
On-class teaching, homework, on-class quiz and discussion
Intelligent Control Methods
Sliding Mode Control, Predictive Control, Adaptive Control, Neural Network Control, etc
16
4
On-class teaching, homework, on-class quiz and discussion

				

			

			
			
6.Grading Policy

			

				

					
Class Participation 10% + homework and on-class quiz 30% + mid-term exam 30% + final exam 30%

				

			

			
			
7. Textbook & Recommended Reading

			
(1) Textbook

			

				

					book name
					author
					translator
					press
					publication time
					ISBN
					edition
				

					

					    先进机器人控制
							
							谭民
						
							
							
						
							
							高等教育出版社
						
						
							2007-05
						
							
							9787040208832
						
						1
					

			

			
(2) Recommended Reading

			

				

					book name
					author
					translator
					press
					publication time
					ISBN
					edition
				

					

					    “Introduction to Robotics: Mechanics and Control”, 4th Edition
							
							John J. Craig
						
							
							
						
							
							Pearson
						
						
                            
						
							
							9780133489798
						
						
					

			

			
8.Academic Integrity

			

				

					
This course highly values academic integrity. Behaviors such as plagiarism and cheating are strictly prohibited.

				

			

			
			
9.Other Information (Optional)