Syllabus

Definition of Robot

Types of Robots

Applications of Robots

Introduction to Intelligent Systems Research Institute

2013 년도 2 학기 수업계획서 교과목명 로봇공학개론 학수번호 ICE3027-41

사용언어 English 영역구분 전공 수강대상학부 정보통신공학부 및 타학부

선이수과목(권장) 공업수학 이수구분 전공 학점/시간 3학점 / 3시간 인증구분 년도/학기 2013/2 학기

강의실 [22110] 1공학관 1층

첨단강의실 수업시간

담당교수 명 이석한 연락처(연구실) 031-290-7150 E-Mall lsh1@skku.edu

1.교과목 개요

Fundamental mathematical foundation as well as background knowledge on rob

otics will be presented, ranging from robot kinematics and control to robot vision

and planning. In addition, students are exposed to applications of fundamental k

nowledge to mobile robot navigation, vision based manipulation, and human-rob

ot interaction. Class projects provide students opportunity to study deeper into p

articular robot applications of their choices.

2.교과목 목표

To provide students with basic background and capability for understanding and

solving simple robotics problems such as how robot manipulators and mobile ro

bots work and how vision allows robot to work in unstructured environments, et

c.

4.교육진행(%) 이론 실험/실습 설계 발표 기타 70% 0% 30% 0% 0%

5.교육방법 강의 토의/토론 실험/실습 현장학습 개별/팀별 발표 기타 ○ ○ ○

6.교육매체 Computer Beam Project OHP VTR 기타

○ 7.평가방법(%)

출석 과제물 중간고사 기말고사 발표 평소 기타 10% 40% 30% 0% 20% 20% 0%

* 시험 부정행위, 기타 부정한 방법으로 취득한 과목의 성적은 F 처리됩니다. (성균관대학교학칙 시행세칙(학사과정) 제25조)

8 .관련도서 및 참고자료 구분 제목 저자 발행연도 출판사 교재 introduction to robotics John J. Craig 2005 Pearson

9.강의내용

주 강의내용

1주차 Introduction to Robotics, What is a Robot?

2주차 Linear Algebra, Coordinate Transformation, Homogeneous Transformation

3주차 Kinematics and Inverse Kinematics

4주차 Trajectory Planning and Control

5주차 Motion and Task Planning

6주차 Midterm Exam

7주차 Robot Vision I

8주차 Robot Vision II

9주차 Mobile Robot Localization and Navigation

10주차 Visual Servoing

11주차 Recognition and Understanding of Environment

12주차 Human-Robot Interaction 1

13주차 Human-Robot Interaction 2

14주차 System Integration

15주차 Term Project Presentation and Evaluation I

16주차 Term Project Presentation and Evaluation II

Welding robot

Assembly robot

LCD transfer robot

Painting robot

Wafer robot

Car body cleaning robot

Surgical robot, DaVinci(USA) Rough terrain exploration robot(Poland)

Mars exploration robot(USA) Underwater robot, V8 Sii ROV(Sweden)

Big dog(USA) Foster-Miller_TALON(USA)

Guardium(Israel)

MQ-9 Reaper(USA)

MQ-8 Fire Scout(USA) PETman(USA)

AIBO(Japan)

Nao(France)

Qrio(Japan)

Furby(USA)

Violin playing robot(Japan)

iClebo Arte(Korea) Roboking(Korea)

Mero(Korea) Robocop(Korea)

irobiQ(Korea) Robosem(Korea)

PR2(USA) ASIMO(Japan)

HomeMate(Korea)

Engkeye(Korea) TWENDY-ONE(Japan)

Care-O-bot3(Germany)