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Teaching » Syllabus: Introduction to Robotics 2008

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Note: This syllabus will be modified continuously to accommodate the progress and interests of the course participants!

DateTopicAssignments
Jan. 14IntroductionS&S: Chapter 1
Jan. 23Matrix Algebra RefresherS&S: Appendix A
Jan. 28Basic Linear Control Theory IBook Chapters
Jan. 30Frequency Domain Analysis, Introduction to Matlab/SimulinkBook Chapter,
Matlab/Simulink Introduction
Feb. 4Case Study I: Stabilization of an Artificial Eye SystemManual for robot simulator
Feb. 6Basic Linear Control Theory IIBook Chapter,
Homework 1
Feb. 11Coordinate TransformationsS&S: Chapter 2.1-2.7
Feb. 13Direct KinematicsS&S: Chapter 2.7-2.10
Feb. 20Inverse KinematicsS&S: Chapter 2.11, 3.1-3.7,
Homework 2
Feb. 25Dynamics: Lagrangian FormulationS&S: Chapter 4.1-4.4,
Feb. 27Dynamics: Newton-Euler Formulation and SoftwareToolsS&S: Chapter 4.5-4.8
Mar. 3Nonlinear ControlS&S: Chapter 6
Mar. 5 Midterm (SSL 150, closed book): All material until Mar. 3 
Mar. 10Trajectory PlanningS&S: Chapter 5
Mar. 12Force ControlS&S: Chapter 7
Mar. 17Spring Break 
Mar. 19Spring Break 
Mar. 24Sensors & Actuators, FilteringS&S: Chapter 8,
Homework 3
Mar. 26Adaptive Control 
Mar. 31Optimal Control 
April 2Kalman FilteringHandout, More info on Kalman Filtering
April 7Introduction to Real-Time Control with VxWorksWindriverSystems Handout
April 9Case Study: Gravity Compensation of a 7 DOF Robot Arm - TheoryManual for programming the robot ,
Homework 4
April 14Case Study: Gravity Compensation of a 7 DOF Robot Arm - Implementation 
April 16Labs with Real Robot and VxWorks (no class)TAR Archive with Robot Simulator
April 21Labs with Real Robot and VxWorks (no class)TAR Archive with Robot Simulator
April 23Labs with Real Robot and VxWorks (no class)TAR Archive with Robot Simulator
April 28Review of Class for Final Quiz Preparation, Videos of cool robot research 
April 302-3pm SSL 150 Final Quiz (open book, all material of the course) 

Page last modified on April 11, 2008, at 12:54 PM