AE 482 / CS 443 / ECE 470 / IESE 421 / MechSE 445

Personnel

• Instructor: Tim Bretl. Office: 321A Talbot Lab, Phone: 217-244-3126, Email: tbretl@illinois.edu
• TA: Nathan Shemonski, Email: shemons1@illinois.edu
• TA: Sal Candido. Office: 1514 Beckman Institute, Phone: (217) 244-1372, Email: candido@illinois.edu
• TA: Sourabh Bhattacharya. Office:  1514 Beckman Institute, Phone: (217) 244-1372, Email: sbhattac@illinois.edu

Time and Place

Tu/Thu 11:00AM-12:20PM, Engr Hall 106B1

Office Hours

• Prof. Bretl: Tu 1:30-2:30PM and Th 1:30-2:30PM in Talbot 321A
• Mr. Candido: W 10-11AM in 1514 Beckman Institute
• Mr. Bhattacharya: M 4:00-5:00PM in 1514 Beckman Institute
• Mr. Shemonski: M 12:00-1:30PM, W 1:30-3:00 in Everitt Lab 267

Required Texts

• Robot Modeling and Control (Spong, Hutchinson, and Vidyasagar, Wiley, 2009).
• ECE 470 Lab Manual available from HKN IEEE office (243 Everitt Lab) for not more than $10.

Homework

• Homework will be due on Thursdays.
• Please print the following page and fill in your NAME, NETID and LAB SECTION and attach it in front of your Homework 5. Frontpage
• Please hand in homework at the beginning of class on the day that it is due.
• Late homework will be accepted in class the following Tuesday at a penalty of 25%.

Lab

• Lab will begin the first week of classes and attendance is required.
• Please purchase a lab manual (see above) before the first meeting.
• The six labs together total 15 points (lab 1 = 1 point, lab 2 = 2 points, labs 3-6 = 3 points each).

Exams

• Midterm at 7-10PM, Tuesday, October 20
• Final at 1:30-4:30PM, Thursday, December 17 in Engr Hall 106B1 and MSEB 4101

Grading

• 25% homework, 25% lab, 25% midterm, 25% final

Schedule

Date	Topic	Due Today	Lab Schedule †
Tu, Aug 25	Intro: some problems you will be able to solve by the end of this course		Lab 1 - Demo
Th, Aug 27	Intro: the language of robotics	Read Chap. 1	Lab 1 - Demo
Tu, Sep 1	Rigid-Body Motion: describing position and orientation	Read Chap. 2.1-2.2	Lab 2 - Begin
Th, Sep 3	Rigid-Body Motion: rotational transformations	Read Chap. 2.3-2.5	Lab 2 - Begin
Tu, Sep 8	Rigid-Body Motion: homogenous transformations	Read Chap. 2.6-2.7	Lab 2 - Finish/Demo
Th, Sep 10	Forward Kinematics: the Denavit-Hartenberg convention, part 1	Read Chap. 3.1-3.2, HW#1 / HW#1 Solution	Lab 2 - Finish/Demo
Tu, Sep 15	No class due to the evening exam we will have later on Oct 20		Lab Canceled
Th, Sep 17	Forward Kinematics: the Denavit-Hartenberg convention, part 2		Lab Canceled
Tu, Sep 22	Forward Kinematics: examples		Lab Canceled
Th, Sep 24	Inverse Kinematics: theory	Read Chap. 3.3	Lab Canceled
Tu, Sep 29	Inverse Kinematics: examples	HW#2 / HW#2 Solution	Lab 3 - Begin
Th, Oct 1	Velocity Kinematics: the derivative of a rotation matrix	Read Chap. 4.1-4.3	Lab 3 - Begin
Tu, Oct 6	Velocity Kinematics: the manipulator Jacobian	Read Chap. 4.4-4.6	Lab 3 - Finish/Demo
Th, Oct 8	Velocity Kinematics: singularities of the manipulator Jacobian	HW#3 / HW#3 Solution	Lab 3 - Finish/Demo
Tu, Oct 13	NO CLASS		Lab 4 - Begin
Th, Oct 15	Velocity Kinematics: more examples and review	Read Chap. 4.9	Lab 4 - Begin
Fr, Oct 16	Make-up class at 4:30PM in MSEB 119
Tu, Oct 20	Computer Vision: image segmentation, part 1	Read Chap. 11.3, HW#4 / HW#4 Solution	Lab 4 - Finish/Demo
	MIDTERM EXAM 7-10PM, Tuesday Evening, Oct 20 in Talbot 103 Midterm Solution Midterm Correction 3(c)
Th, Oct 22	Computer Vision: image segmentation, part 2		Lab 4 - Finish/Demo
Tu, Oct 27	Computer Vision: estimating the position and orientation of objects in an image	Read Chap. 11.4-11.5	Lab 5 - Begin
Th, Oct 29	Computer Vision: image geometry and camera calibration	Read Chap. 11.1-11.2	Lab 5 - Begin
Tu, Nov 3	Path Planning: obstacles in configuration space	Read Chap. 5.1	Lab 5 - Finish/Demo
Th, Nov 5	Velocity Kinematics: inverse of the manipulator Jacobian, part 1	Read Chap. 4.10-4.12	Lab 5 - Finish/Demo
Tu, Nov 10	Velocity Kinematics: inverse of the manipulator Jacobian, part 2	MATLAB Example: 2-Link Arm	Lab 6 - Begin
Th, Nov 12	Path Planning: artificial potential fields	Read Chap. 5.2	Lab 6 - Begin
Tu, Nov 17	Path Planning: optimization and local minima	Read Chap. 5.3, HW#5 / HW#5 Solution	Lab 6 - Finish/Demo
Th, Nov 19	Path Planning: probabilistic sampling-based methods	Read Chap. 5.4	Lab 6 - Finish/Demo
Tu, Nov 24	No class due to Thanksgiving Vacation
Th, Nov 26	No class due to Thanksgiving Vacation
Tu, Dec 1	Special Topics
Th, Dec 3	Special Topics
Tu, Dec 8	Special Topics	HW#6

† This schedule is tentative and is subject to change (although, hopefully not much).

Resources

• Robotica package and manual. To install Robotica, copy the package to: {Mathematica}/AddOns/ExtraPackages
• Skeleton Code for Labs:
  • Lab 2, Lab 3, Lab 4, Vision Labs

by Sourabh Bhattacharya (20 Nov) Introduction to Robotics (Introduction to Robotics)

by Timothy Bretl (10 Nov) ece470_doublelink.m (Introduction to Robotics)

by Timothy Bretl (10 Nov) Introduction to Robotics v. 73 (Introduction to Robotics)

by Timothy Bretl (04 Nov) Homework 5 - Computer Vision (Introduction to Robotics)

by Nathan Shemonski (28 Oct) Introduction to Robotics v. 67 (Introduction to Robotics)

by Timothy Bretl (09 Oct) Homework 4 - Velocity Kinematics (Introduction to Robotics)

by Timothy Bretl (08 Oct) Homework 3 - Inverse Kinematics v. 3 (Introduction to Robotics)

by Timothy Bretl (07 Oct) Homework 2 - Forward Kinematics (Introduction to Robotics)

by Timothy Bretl (17 Sep) robotica.m (Introduction to Robotics)

by Timothy Bretl (17 Sep) robotica_manual.pdf (Introduction to Robotics)

by Nathan Shemonski (02 Sep) vision_labs.zip (Introduction to Robotics)

by Nathan Shemonski (02 Sep) lab4.zip (Introduction to Robotics)

by Nathan Shemonski (02 Sep) lab3.zip (Introduction to Robotics)

by Nathan Shemonski (02 Sep) lab2.zip (Introduction to Robotics)

by Salvatore Candido (01 Sep) Introduction to Robotics v. 33 (Introduction to Robotics)