رباتیک پیشرفته (۹۵)

 robot-sky

باسمه‌تعالی

دانشگاه اصفهان، دانشکده فنی مهندسی، گروه مکانیک

برنامه درس رباتیک پیشرفته ( کارشناسی ارشد)  ( نیمسال دوم  ۹۶ – ۹۵ )

 

نام درس: رباتیک پیشرفته ( کارشناسی ارشد)  شماره درس : ۰۱ – ۱۸۵ – ۲۲ – ۲۰      تعداد واحد نظری:  ۳

استاد درس : حامد شهبازی  ( دفتر کار:  اتاق  ۲۳۱  مکانیک، تلفن  ۳۷۹۴۵۶۲۸ )

زمان و مکان ارائه درس : شنبه­ها ۱۲-۱۰ ( کلاس ۸ ) و یکشنبه­ها ۳ – ۲ ( کلاس ۳۹ )

زمان و مکان رفع اشکال : شنبه­ها  ۴- ۲ و  دوشنبه‌ها  ۱۰- ۸  ( دفتر گروه مکانیک )

سایت درس:  www.hamedshahbazi.ir (مراجعه به  منوی درس‌ها- رباتیک پیشرفته)

تکالیف دانشجو:  حل تمرین‌، انجام تکالیف درسی (+ سمینار بیست‌دقیقه‌ای)

نمره نهایی (۲۰ نمره ) شامل: حل تمرین و سمینار موضوعی (۴ ) ، پروژه درسی ( ۵ ) ،  سمینار کتاب ( ۵ ) و امتحان پایانی ( ۶ )

 

     ۱٫      Introduction to robotics mechanics and control, second edition. By JOHN J. CRAIG, Addison Wesley, 1989.

2.      Introduction to Autonomous Mobile Robots, Sigwart and Nourbakhsh, The MIT Press,2004

3.      Handbook of Robotics

 

 

 

هفته

 

موضوع

۱

معرفی منابع درس رباتیک پیشرفته- معرفی مقدمات درس رباتیک پیشرفته- ربات های صنعتی و ربات های متحرک

۲

معرفی سینماتیک مستقیم و معکوس در بازو های رباتیک صنعتی- تبدیل های فضایی و کاربرد آن در سینماتیک

۳

سینماتیک مستقیم و ماتریس های تبدیل دستگاه ها و مشخصات-  مثال های کاربردی از سینماتیک مستقیم-  شروع سینماتیک معکوس

۴

در آمدی بر مفاهیم حرکت در ربات های متحرک- مثال هایی از سینماتیک معکوس

۵

در آمدی بر سینماتیک ربات های متحرک، درآمدی بر ویباتز

۶

مفاهیم سرعت خطی و سرعت دورانی و انتشار دستگاه ها - ژاکوبین ها و سرعت ها،آشنایی با کاربرد های سرعت و دینامیک ربات ها

۷

مقدمه ای بر دینامیک ربات ها، مروری بر روش نیوتن- اویلر- مثالی از روش نیوتن-اویلر معرفی روش لاگراژین

۸

معرفی جعبه ابزاررباتیک متلب

۹

درآمدی بر مکان یابی در ربات های متحرک 

 

۱۰

ادامه مکان یابی در ربات های متحرک   

۱۱

تولید مسیر در ربات های متحرک و بازوهای رباتیک  

۱۲

 

مکان یابی احتمالی باروش مارکوف و فیلتر کالمن

۱۳

 

شرح برخی از مفاهیم رباتیک روی پروژه های کاربردی

۱۴

 

ادامه مکان یابی احتمالی باروش مارکوف و فیلتر کالمن

۱۵

 

سممینار های پژوهشی دانشجویان

۱۶

 

سممینار های پژوهشی دانشجویان

 

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