Introduction to Robotics
The course broadly covers basic issues in planning and control of robot motion.
The attempt is to cover fundamental analytical and algorithmic techniques in all these areas.
We will cover the following:
- Introduction -- Basic terminology and preview of topics
- Mathematical representation of rotations and translations --
- Interpretation of homogeneous matrices as co-ordinate frames
- Relative Transformations
- Transform Equations
- Various Representations of Orientation
- Kinematics of Robot arm
- Denavit and Hartenberg Notation
- Forward and Inverse Kinematics
- Closed form and numerical iterative solutions for Inverse Kinematics
- Examples of Common Industrial Manipulators
- Differential Motion and Statics
- Linear and angular velocity of rigid bodies
- Motion of robot links
- Midterm: Will cover material up to and including differential motion.
- Trajectory Planning
- General considerations
- Interpolated motion
- Cartesian space vs. joint space motion
- Dynamics and Control of a robot arm
- Forward and Inverse Dynamics
- Newton-Euler Formulation of equations of motion
- Some Control Strategies: Computed Torque and Resolved Motion Control
- Real time computational issues
- Robot Programming and Task Level Planning
- A classification of different types of robot programming
- Issues in Task level Planning
- World modelling: geometric representation of objects
- Configuration space: representation and search
- Collision avoidance and path planning, etc.
Click here for lecture notes
There will be about five assignments in all. Each assignment will have
exercises and some programming component that applies the learned material
to a simulated 4-link SCARA manipulator. Therefore, you will gradually
build an entire library of robot motion (planning and control) software by
the end of the course. The graphical simulation will be done with OpenGL
available on the LABNET machines.
Midterm: November 1, 2007. Duration: 2 hours. click here for 2007-3 midterm and solution
Material: Chapters 1 to 5.4 (including 5.4). This corresponds to Lectures 1 to 19 (including 19). Euler parameters (Page 50) are excluded.
Closed book. One double sided crib sheet allowed. Only formulas/procedures are allowed. No solved examples/derivations/proofs on the crib sheet.
Scientific calculators are allowed.
Sample Midterms (from previous years): 2002: Midterm I Midterm II
Sample from 2003
- Duration 3 hours.
- Closed book. Two double sided crib sheets allowed. Only formulas/procedures are allowed. No solved examples/proofs are allowed on the crib sheets.
- Scientific calculators are allowed.
- All material in Midterm I as mentioned above.
- Chapter 5 (exclude 5.10 and 5.11).
- Chapter 6 (exclude 6.9, 6.10).
- Chapter 7.
- Chapter 9.
- Chapter 10 (exclude 10.7,10.8, 10.9).
- Lectures 1-39.
Project ROBSIM: click here for a detailed description. updated 22 November, 2007
The default project ROBSIM is built around the 4-link robot simulator
that you gradually build with the programming assignments during the course. More details to be posted.
You also have a choice to define or choose a project of your own.
Students interested in doing so are encouraged to contact
me early in the semester.
Introduction to Robotics: Mechanics and Control by John J. Craig. Addison Wesley. Fourth Edition.
Foundations of Robotics by Tsuneo Yoshikawa. MIT Press.
Robot Modeling and Control by Spong, Hutchinson, and Vidyasagar. John Wiley & Sons.
Maple/Mathematica, MATLAB, C/C++ and OpenGL.
Students should have a basic knowledge of
Linear Algebra, Differential Equations, Numerical Analysis, Statics/Dynamics,
and familiarity with a high level programming language (preferably C/C++).
- Assignments -- 10%
- Midterm -- 25%
- Final -- 35%
- Class Project -- 30%
Mr. Zhenwang Yao (firstname.lastname@example.org) click here for Zhenwang's TA resource page
Office hours: Room 10814.
Instructor: Kamal Gupta
Office: APSC 10843
office hours: I maintain open office policy, i.e., you are welcome to drop in any time
and knock on the door. In case I am busy, I will ask you to come back later.
Back to Kamal's home page