Difference between revisions of "ME CS 133 2017-18"

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===== Spherical Kinematics =====
 
===== Spherical Kinematics =====
 
|-
 
|-
| 18 Jan (M)
+
| 9 Oct. (M)
| ''No Class'': '''Marin Luther King Holiday'''
+
| Cayley's Theorem
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31], <br> [[Media:rotation.pdf | Notes on Rotations]]
 
| -N/A-
 
| -N/A-
| -N/A-
+
| rowspan=3 align=center | [[Media:MECS133a_Lab1.pdf | Lab 1]]
| rowspan=3 align=center | No Homework
+
 
|-
 
|-
| 20 Jan (W)
+
| 11 Oct. (W)
| Cayley's Theorem, <br>
+
| Euler's Theorem, Angle-Axis Representation, and Matrix Exponential
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31], <br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/rotation.pdf Notes on Rotations]
+
|  
 
| -N/A-
 
| -N/A-
 
|-
 
|-
| 22 Jan (F)
+
| 13 Oct. (F)
| ''No Class''
+
| Spatial Kinematics
 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]  
 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]  
 
| -N/A-
 
| -N/A-

Revision as of 22:25, 19 September 2017

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.

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. Joseph Bowkett 205 Gates-Thomas TBD jbowkett at caltech dot edu 626-395-1989
Teach Asst. Daniel Pastor Moreno 205 Gates-Thomas TBD dpastorm at caltech dot edu 626-395-1989
Teach Asst. Ellen Feldman 205 Gates-Thomas TBD efeldman at caltech dot edu 626-395-1989
Teach Asst. Daniel Naftalovich 205 Gates-Thomas TBD nafty at caltech dot edu 626-395-1898
Administrative Sonya Lincoln 250 Gates-Thomas 7:30am-noon; 1:00pm-4:30pm lincolns at caltech dot edu 626-395-3385


Lecture Schedule:

  • Monday: 10:00-11:00 am - 115 Gates-Thomas
  • Wednesday: 2:00-3:00 pm. - 384 Firestone
  • Friday: 3:00-4:00 pm. - 384 Firestone

Announcements For ME/CS 133(a,b)

Course Text and References

The main course text for ME/CS 133(a) is:

We will refer to this text as MLS (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A main text for the ME/CS 133(b) is: Planning Algorithms by Steve LaValle (UIUC).

The following book is recommended (but not required) for ME/CS 133(b):

  • Principles of Robot Motion: Theory, Algorithms, and Implementations, by Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun.

This text is available at Amazon in both new and used versions.

Grading

The final grade will be based on homework sets, and a final exam or final project:

  • Homework (40%): Homework sets 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 ME/CS 133(a), 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.
  • Laboratory (30%): Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.
  • Final exam/project (30%): In ME/CS 133(a), 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 or labs 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 Lecture Schedule for ME/CS 133(a)

Week Date Topic Reading Optional Reading Homework
1
Introduction and Review of Rigid Body Kinematics
25 Sept. (Mon.) Class Overview Course Overview,
Chapter 1 of MLS
History of Kinematics Through 1900 (Introductory chapter from Kinematic Synthesis of Linkages) -No Homework-
27 Sept. (W) Planar Rigid Body Kinematics,
Planar displacements
MLS Ch 2.1, Pages 19-23 -N/A-
29 Sept. (F) Planar Rigid Body Displacements (continued),
Displacement groups
MLS Ch 2.1, -N/A-
2
From Planar Rigid Body Kinematics to Spherical Kinematics
02 Oct. (M) Displacement groups, poles
Planar Displacements (PowerPoint)
-N/A- Homework 1,
Solution 1
04 Oct. (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
06 Oct. (F) Spherical Kinematics (continued),
Classical Matrix Groups
MLS Ch 2.2, 2.3,
Notes on the Classical Matrix Groups
-N/A-
3
Spherical Kinematics
9 Oct. (M) Cayley's Theorem MLS 27-31,
Notes on Rotations
-N/A- Lab 1
11 Oct. (W) Euler's Theorem, Angle-Axis Representation, and Matrix Exponential -N/A-
13 Oct. (F) Spatial Kinematics 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-