Introduction to Robotics (Fall 2009)

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

Personnel

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 6. 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).

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