ME CS 132 2017
This is the homepage for ME/CS 132(a,b) (Introduction to Robotic Perception and Navigation) for Winter/Spring 2017.
Course Staff, Hours, Location
Position | Name | Office | Office Hours (changing weekly) | Phone | |
Instructor | Joel Burdick | 245 Gates-Thomas | send mail for an appointment | jwb at robotics dot caltech dot edu | 626-395-4139 |
Teach Asst. | TBD | 205 Gates-Thomas | TBD | 626-395-???? | |
Teach Asst. | TBD | 205 Gates-Thomas | TBD | 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: To be determine at the Organizational Meeting
Announcements For ME/CS 132(a.b)
- 06/01/16: The Final Exam is available here . The instructions are included on the first page. To complete the exam, you will have to download and watch the following videos:
- The Spider Mechanism Video (in mp4 format).
- The Rostock Video (in mp4 format).
- 05/14/16: The first video lecture can be downloaded from here in .mov format
- 05/14/16: The second video lecture can be downloaded here in .mp4 format
- 05/04/16: The Final Project Guidelines
- 04/06/16: The T.A. office hours will be Thurs, 8:00 pm onward, in Room 229 (#2-#3) of Sherman-Fairchild Library
Course Text and References
The main course text is:
- R.M. Murray, Z. Li, and S. Sastry, A Mathematical Introduction to Robotic Manipulation, CR Press, 1994.
- The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course
We will refer to this text as MLS (the initials of the authors last names). While the course topics will follow the text subjects, additional material not in the text will often be presented in class. Additional course handouts covering this material will be posted on this website
Course Syllabus
Theoretical Kinematics is the study of motion and the analytical tools to represent motion, while Applied Kinematics is the analysis and synthesis of mechanisms which implement given motions. This course presents a basic overview of theoretical kinematics, while the applied portions focus on robotic mechanisms.
An overview of the course, including course mechanics, grading, etc. The most salient information is repeated below.
Grading
The final grade will be based on homework sets, and a final exam or final project:
- Homework (70%): Homework sets will be handed out every 7-10 days, and are due at 5 pm on the due date (which will always coincide with a class meeting). Homeworks can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. Some homeworks will require computation. MATLAB or Mathematica should be sufficient to solve every homework posed in this course, though students can choose their favorite programming language. Code is considered part of your solution and should be included in with the problem set when appropriate.
- Final exam/project (30%): Students have the option to take a final exam (a limited time take-home format exam which is open book, open note, and computer allowed) or select a final project. The final project must incorporate some aspect of the course, and the topic and scope my be approved by the course instructor. The final exam will due at 5:00 pm the last day of finals. The final project is similarly due at 5:00 pm on the last day of finals.
- Late Homework Policy: Students may automatically take a 2-day extension on two homeworks during each quarter.
Collaboration Policy
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect your own understanding of the subject matter. Computer code and graphical plots are considered part of your solution, and therefore should be done individually (you can share ideas, but not code). No collaboration is allowed on the examinations.
Course Schedule for ME/CS 132(a)
Week | Date | Topic | Reading | Optional Reading | Homework |
1 |
Introduction and Review of Rigid Body Kinematics | ||||
4 Jan (Mon.) | Class Overview | [[ME_CS_132_CourseOverview.pdf |, Chapter 1 of MLS |
-No Homework- | ||
6 Jan (W) | Planar Rigid Body Kinematics, Planar displacements |
MLS Ch 2.1, Pages 19-23 | -N/A- | ||
8 Jan (F) | Planar Rigid Body Displacements (continued), Displacement groups |
MLS Ch 2.1, | -N/A- | ||
2 |
From Planar Rigid Body Kinematics to Spherical Kinematics | ||||
11 Jan (M) | Displacement groups, poles Planar Displacements (PowerPoint) |
-N/A- | Homework 1, Solution 1 | ||
13 Jan (W) | Centrodes: Ellliptical Trammel, Trammel, V 1, V 2, compliation Intro to Spherical Kinematics |
MLS Pages 22-26, Notes on the Elliptical Trammel, |
Archemides Trammel (Wikipedia) Polyhedral Linkages Synthesized Using Cardan Motion Along Radial Lines |
||
15 Jan (F) | Spherical Kinematics (continued), Classical Matrix Groups |
MLS Ch 2.2, 2.3, Notes on the Classical Matrix Groups |
-N/A- | ||
3 |
Spherical Kinematics | ||||
18 Jan (M) | No Class: Marin Luther King Holiday | -N/A- | -N/A- | No Homework | |
20 Jan (W) | Cayley's Theorem, |
MLS 27-31, Notes on Rotations |
-N/A- | ||
22 Jan (F) | No Class | MLS 31-34 | -N/A- | ||
4 |
Spherical Kinematics (continued) | ||||
25 Jan (M) | Angle/Axis Representation and Rodriguez Formula | MLS 34-39 | Notes on Algebras | -N/A- | |
27 Jan (W) | No Class | -N/A- | -N/A- | ||
29 Jan (W) | No Class | -N/A- | -N/A- | ||
5 |
Spatial Kinematics | ||||
1 Feb (M) | No Class | -N/A- | -N/A- | Homework 2, Solution 2 | |
3 Feb (W) | Exponential Coordinates and Euler Angles | MLS Ch 2.2, 2.3 | -N/A- | ||
5 Feb (F) | Quaternions | MLS Pages 51-52 | -N/A- | ||
6 |
Spatial Kinematics (continued) | ||||
8 Feb (M) | Quaternions (continued), Intro to Spatial Kinematics |
MLS 34-39 | Notes on Algebras | Homework 3, Solution 3 | |
8 Feb (M) | Spatial Displacments, Chasle's Theorem, Exponential Coordinates |
MLS Pages 35-50 | -N/A- | ||
10 Feb (W) | Motion Capture Rigid Body Velocities |
MLS Pages 51-61; Rodriguez' Displacement Equation; | -N/A- | ||
12 Feb (F) | No Class | -N/A- | -N/A-
| ||
7 |
Spatial Kinematics: Velocities and Wrenches | ||||
15 Feb (M) | No Class: President's Day Holiday | MLS Ch 2.3; | -N/A- | Homework 4, Solution 4 | |
17 Feb (W) | Rigid Body Velocities (continued) | MLS Ch 2.3 | -N/A- | ||
19 Feb(F) | Transformation of Velocities Wrenches and Poinsot's Theorem |
MLS Ch 2.4-2.5 | -N/A- | ||
8 |
Robot Manipulators | ||||
22 Feb (M) | Wrenches (continued), Screw Theory |
-N/A- | -N/A- | No Homework | |
22 Feb (M) | Robot Manipulators: Introduction | MLS Chapter 3, pages 81-94 | -N/A- | ||
23 Feb (W) | Denavit Hartenberg Convention | MLS Chapter 3, pages 81-94 | -N/A- | ||
25 Feb(F) | Forward Kinematics via the Denavit-Hartenberg Convention | MLS Ch 3, | DH-Parameters (from Wikipedia), Scan from Craig Book on D-H Parameters | ||
9 |
Forward/Inverse Kinematics | ||||
29 Feb (M) | Denavit-Hartenberg Convention (continued), Examples | MLS Ch 3; Rodriguez' Displacement Equation; | -N/A- | Homework 5, Solution 5 | |
2 Mar (W) | Product of Exponentials Formula | MLS Ch 3 | -N/A- | ||
4 Mar(F) | Inverse Kinematics | MLS Ch 3 | -N/A- | ||
10 |
Jacobian Matrix and Singularities | ||||
7 Mar (M) | Manipulator Jacobian Matrices | MLS Ch 3, pages 115-120; | -N/A- | Optional Homework 6 | |
7 Mar (M) | Jacobian Matrix (continued), End-effector forces | MLS Ch 3, 121-123; | -N/A- | ||
9 Mar (W) | Manipulator Singularities | MLS Ch 3, pp 123-127 | -N/A- |