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CS 5310/6310 & ME 5220/6220
Introduction to Robotics
Fall 2001
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The mechanics of robots, comprising kinematics, dynamics, and control.
Planar, spherical, and spatial transformations and displacements. Representing
orientation: Euler angles, angle-axis. Robot kinematics: types of joints,
typical structures, Denavit-Hartenberg parameters, forward kinematics.
Velocity and acceleration: the Jacobian. Inverse kinematics: solvability
and singularities. Trajectory planning: joint interpolation and Cartesian
trajectories. Statics of serial chain mechanisms. Inertial parameters,
Newton-Euler equations, recursive forward and inverse dynamics. Robot behaviors,
mobile platforms, and sensing. Feedback and feedforward control; force
control.
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(3) Semester: Fall. Prerequisites: CS 1000, MATH 2250.
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MW 2-3:20p, EMCB 105.
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Text: Craig (Also, some course notes will be provided)
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Course
information.
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Syllabus.
Teaching Assistant: None
Class Mailing Lists
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leaving the subject line blank, and
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Announcements and Assignments
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Pop tests and exams are closed book.
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Assignment 1 covers Chapters 1 and 2 (see a1.pdf).
Assignment 1 solution (see a1).
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Project 1 deals with kinematics and Chapters 1-5 (see p1.pdf
and p1).
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Assignment 2 covers Chapter 3 (see a2.pdf).
Assignment 2 solution (see
a2).
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Assignment 3 covers Chapter 4 (see a3.pdf).
Assignment 3 solution (see
a3).
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Assignment 4 covers Chapter 5 (see a4.pdf
and a4 for solution).
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Assignment 5 covers Chapter 6 (see a5.pdf
and a5 for solution).
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Project 2 deals with dynamics and Chapters 6-8 (see p2.pdf
and p2).
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Assignment 6 covers Chapter 6 (see a6.pdf
and a6).
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Assignment 7 covers Chapter 7 (see a7.pdf
and a7).
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Assignment 8 covers Chapter 7 (see a8.pdf
and a8).
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Assignment 9 covers Chapter 8 (see a9.pdf
and a9).
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Assignment 10 covers Chapter 10-11, & notes (see a10.pdf
and a10).
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Assignment 11 covers Chapter 10-11, & notes (see a11.pdf
and a11).
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Project 3 deals with mobile robot simulation (see p3.pdf
and p3).
Resources
Additional references on quaternions.
On-line tutorials and references for Matlab can be found at the
following sites:
A postscript viewer for Microsoft Windows can be found at the following
website:
A freeware Matlab-like interpreter called Octave can be downloaded from:
Handouts
The following handouts incorporate any corrections that have been identified.
Lectures
Homework
Assignments
Solutions
Matlab scripts
Exams
Previous exam examples
Exam solutions
Score distributions
Robot Programming Lab
Class Projects