《智能机器人技术》课程安排

授课方式：线上线下结合

上课平台：腾讯会议  

授课教师：苏春翌教授，加拿大康考迪亚大学

                   （Chun-Yi Su, Concordia University, Canada）

（一）

授课时间：11月25日（星期四）08：00 - 09：35

会议ID：470 251 552

主要内容：Spatial Description and Transformation  

关键词：Descriptions of position and orientation, frames, rotations of a frame, homogeneous transformations, representation of a frame’s orientation

（二）

授课时间：12月2日（星期四）08：00 - 09：35

会议ID：399 961 339

主要内容：Manipulator Kinematics

关键词：Denavit-Hartenberg convention, manipulator kinematics, joint space and Cartesian space

（三）

授课时间：12月7日（星期二）14：00 - 15：35

会议ID：805 656 536

主要内容：Inverse Kinematics

关键词：Solvability, manipulator subspace, algebraic and geometric approaches, Pieper’s solution procedure

（四）

授课时间：12月9日（星期四）08：00 - 09：35

会议ID：388 504 291

主要内容：Velocities

关键词：Linear and angular velocity of a rigid body, velocity propagation from link to link, Jacobian and singularities, static forces, Jacobian in the force domain, Cartesian transformation of velocities

（五）

授课时间：12月14日（星期二）14：00 - 15：35

会议ID：555 167 434

主要内容：Manipulator Dynamics

关键词：Newton-Euler and Lagrangian formulation formulations of robot dynamics, the structure and properties of robot dynamics, robot dynamics in Cartesian space

（六）

授课时间：12月16日（星期四）08：00 - 09：35

会议ID：439 805 342

主要内容：Position Control of Manipulators

关键词：Computed-torque control, nonlinear and time varying control systems, and adaptive and robust control techniques.

授课人简介：Dr. Chun-Yi Su received his Ph.D. degrees in control engineering from South China University of Technology in 1990. After a seven-year stint at the University of Victoria, he joined Concordia University in 1998, where he is currently a Professor of Mechanical and Industrial Engineering and holder of Concordia University Research Chair in Control. His research covers control theory and its applications to various mechanical systems, with a focus on control of systems involving hysteresis nonlinearities. He is the author or co-author of over 400 publications, which have appeared in journals, as book chapters and in conference proceedings.

Dr. Su has been an Associate Editor of IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, Mechatronics, Control Engineering Practice, and several other journals. He has served as General Chair/Co-Chair for many international conferences.