Difference between revisions of "ME CS 133 2018-19"

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(Created page with "his was the homepage for ME/CS 133(a) (Introduction to Robotics) for Fall/Winter 2017-18. The homepage for ME/CS 133(b) has been moved to the [https://courses.caltech.edu/cou...")
 
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his was the homepage for ME/CS 133(a) (Introduction to Robotics) for Fall/Winter 2017-18.  The homepage for ME/CS 133(b) has been moved to the [https://courses.caltech.edu/course/view.php?id=2860 Caltech ''Moodle" system].
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This is a homepage for ME/CS 133(a) (Introduction to Robotics) for Fall/Winter 2018-19.  We will also use the [https://courses.caltech.edu/course/view.php?id=2860 Caltech ''Moodle" system] for submitting homeworks, lab assignments, and final project reports.
 
   
 
   
 
__NOTOC__
 
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== Announcements For ME/CS 133(a,b) ==
 
== Announcements For ME/CS 133(a,b) ==
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== Course Lecture Schedule for ME/CS 133(a) ==
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{| border=1 width=100%
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|-
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| Week || Date || Topic || Reading || Optional Reading || Homework
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|-
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|  align=center rowspan=4 | 1
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| colspan=5|
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=====Introduction and Review of Rigid Body Kinematics =====
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|-
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| 1 Oct. (Mon.)
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| Class Overview
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| [[Media:MECS_133a_overview_2018.pdf | Course Overview]], <br> [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page  Chapter 1 of MLS]
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| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from <em> Kinematic Synthesis of Linkages</em>) 
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| rowspan=3 align=center | -No Homework-
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|-
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| 3 Oct. (W)
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| Planar Rigid Body Kinematics, <br> Planar displacements
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
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| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]
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|-
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| 5 Oct. (F)
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| Planar Rigid Body Displacements (''continued''), <br> Displacement groups 
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], <br>
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[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
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| -N/A-
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|-
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| align=center rowspan=4 | 2
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| colspan=5 |
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===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
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|-
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| 08 Oct. (M)
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| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel <br>
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| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
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|  [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia)<br>[https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], <br> [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
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| rowspan=3 align=center | [[Media:MECS133a_set1.18.pdf | Homework 1]], <br> (Due Oct. 14) <br> 
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|-
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| 10 Oct. (W)
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| Intro to Spherical Kinematics
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26],<br> [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
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| -N/A-
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|-
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| 12 Oct. (F)
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| Spherical Kinematics (''continued''), <br> Classical Matrix Groups
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], <br>  [[Media:rotation.pdf | Notes on Rotations]]
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| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]
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|-
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| align=center rowspan=4 | 3
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| colspan=5 |
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===== Spherical Kinematics =====
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|-
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| 15 Oct. (M)
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| Cayley's Theorem, Euler's Theorem
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
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| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
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| rowspan=3 align=center | [[Media:MECS133a_set2a.18.pdf | Homework 2]] <br> (Due Oct. 24) 
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|-
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| 17 Oct. (W)
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| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
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|
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| -N/A-
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|-
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| 19 Oct. (F)
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| Euler Angles
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
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| -N/A-
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|-
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| align=center rowspan=4 | 4
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| colspan=5 |
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===== Spherical Kinematics =====
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|-
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| 22 Oct. (M)
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| Quaternions
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
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| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
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| rowspan=3 align=center | -N/A-
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|-
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| 24 Oct. (W)
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| Quaternion Wrap-Up, <br> Intro to Spatial Kinematics, <br> Homogeneous Coordinates,
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
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| -N/A-
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|-
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| 26 Oct. (F)
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| Spatial Exponential Coordinates, <br> Intro to screws
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] <br> [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
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| -N/A-
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|-
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| align=center rowspan=4 | 5
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| colspan=5 |
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===== Spatial Kinematics and Velocities =====
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|-
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| 29 Oct. (M)
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| Motion Capture via Rodriguez Equation <br> Intro to Rigid Body Velocities
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| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], <br>[http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
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|
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| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] <br> [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] <br> [[Media:ROS_tutorial.pdf | ROS Tutorial]] <br> [[Media:MECS133_sol3_17.pdf | Solution 3]]
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|-
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| 31 Oct. (W)
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| Rigid Body Velocities Continued <br> Intro to Wrenches 
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| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
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| -N/A-
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|-
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| 2 Nov. (F)
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| Rigid Body Velocities and Coordinate Transformations
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| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], <br>[http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
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| -N/A-
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|-
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| align=center rowspan=4 | 6
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| colspan=5 |
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===== Spatial Kinematics and Velocities =====
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|-
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| 5 Nov. (M)
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| ROS Tutorial
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|
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| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
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| rowspan=3 align=center |  [http://robotics.caltech.edu/~jbowkett/me133a_ros_tut.py Python script for ROS Tutorial] <br> 
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|-
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| 7 Nov. (W)
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| Intro to multirotors
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|
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| -N/A-
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|-
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| 10 NOV. (F)
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| Multirotor Equations of Motion
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|
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| -N/A-
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|}

Revision as of 20:41, 30 September 2018

This is a homepage for ME/CS 133(a) (Introduction to Robotics) for Fall/Winter 2018-19. We will also use the Caltech Moodle" system for submitting homeworks, lab assignments, and final project reports.


Course Staff, Hours, Location

Position Name Office Office Hours (changing weekly) Email Phone
Instructor Joel Burdick 245 Gates-Thomas send mail for an appointment jwb at robotics dot caltech dot edu 626-395-4139
Teach Asst. Amanda Bouman 205 Gates-Thomas TBD me133tas at robotics dot caltech dot edu 626-395-4470
Teach Asst. Anushri Dixit 205 Gates-Thomas TBD me133tas at robotics dot caltech dot edu 626-395-4470
Teach Asst. Andrew Singletary Gates-Thomas TBD me133tas at robotics dot caltech dot edu 626-395-????
Administrative Sonya Lincoln 250 Gates-Thomas 7:30am-noon; 1:00pm-4:30pm lincolns at caltech dot edu 626-395-3385


Lecture Schedule:

  • Days: Monday, Wednesday, Friday
  • Time: 3:00-3:55 pm
  • Location: 135 Gates-Thomas

Announcements For ME/CS 133(a,b)

Course Lecture Schedule for ME/CS 133(a)

Week Date Topic Reading Optional Reading Homework
1
Introduction and Review of Rigid Body Kinematics
1 Oct. (Mon.) Class Overview Course Overview,
Chapter 1 of MLS 		History of Kinematics Through 1900 (Introductory chapter from Kinematic Synthesis of Linkages) -No Homework-
3 Oct. (W) Planar Rigid Body Kinematics,
Planar displacements 		MLS Ch 2.1, Pages 19-23 Wikepedia Page on the Peaucellier Mechanism
5 Oct. (F) Planar Rigid Body Displacements (continued),
Displacement groups 		MLS Ch 2.1,

Change of Reference in Planar Displacements (PowerPoint)

-N/A-
2
From Planar Rigid Body Kinematics to Spherical Kinematics
08 Oct. (M) poles, Centrodes, elliptic Trammel
Notes on the Elliptical Trammel Archemides Trammel (Wikipedia)
Trammel, V 1, V 2, compliation,
Linkages Synthesized Using Cardan Motion Along Radial Lines 		Homework 1,
(Due Oct. 14)
10 Oct. (W) Intro to Spherical Kinematics MLS Pages 22-26,
Notes on the Classical Matrix Groups 		-N/A-
12 Oct. (F) Spherical Kinematics (continued),
Classical Matrix Groups 		MLS Ch 2.2, 2.3,
Notes on Rotations 		Herman Weyl's book on the classical groups
3
Spherical Kinematics
15 Oct. (M) Cayley's Theorem, Euler's Theorem MLS 27-31 Wikipedia Page on Cayley Transform Homework 2
(Due Oct. 24)
17 Oct. (W) Angle-Axis Representation, Rodriguez Formula, Matrix Exponential, -N/A-
19 Oct. (F) Euler Angles MLS 31-34 -N/A-
4
Spherical Kinematics
22 Oct. (M) Quaternions MLS 33-34 Notes On Algebras -N/A-
24 Oct. (W) Quaternion Wrap-Up,
Intro to Spatial Kinematics,
Homogeneous Coordinates, 		MLS 34-39 -N/A-
26 Oct. (F) Spatial Exponential Coordinates,
Intro to screws 		MLS 39-45
MLS 45-50 		-N/A-


5
Spatial Kinematics and Velocities
29 Oct. (M) Motion Capture via Rodriguez Equation
Intro to Rigid Body Velocities 		Using Rodriguez' Displacement Equation,
MLS 51-56 		Homework 3
Instructions on Acquiring Virtual Machine
ROS Tutorial
Solution 3
31 Oct. (W) Rigid Body Velocities Continued
Intro to Wrenches 		MLS 57-64 -N/A-
2 Nov. (F) Rigid Body Velocities and Coordinate Transformations Using Rodriguez' Displacement Equation,
MLS 51-56 		-N/A-
6
Spatial Kinematics and Velocities
5 Nov. (M) ROS Tutorial ROS Tutorial Python script for ROS Tutorial
7 Nov. (W) Intro to multirotors -N/A-
10 NOV. (F) Multirotor Equations of Motion -N/A-
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