Difference between revisions of "ME CS 132 2017"
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Revision as of 16:01, 1 January 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 GatesThomas  send mail for an appointment  jwb at robotics dot caltech dot edu  6263954139 
Teach Asst.  TBD  205 GatesThomas  TBD  626395????  
Teach Asst.  TBD  205 GatesThomas  TBD  626395????  
Administrative  Sonya Lincoln  250 GatesThomas  7:30amnoon; 1:00pm4:30pm  lincolns at caltech dot edu  6263953385 
 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 ShermanFairchild 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 online 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 710 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 GatesThomas. 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 takehome 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 2day 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 1923  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 2226, 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 2731, Notes on Rotations 
N/A  
22 Jan (F)  No Class  MLS 3134  N/A  
4 
Spherical Kinematics (continued)  
25 Jan (M)  Angle/Axis Representation and Rodriguez Formula  MLS 3439  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 5152  N/A  
6 
Spatial Kinematics (continued)  
8 Feb (M)  Quaternions (continued), Intro to Spatial Kinematics 
MLS 3439  Notes on Algebras  Homework 3, Solution 3  
8 Feb (M)  Spatial Displacments, Chasle's Theorem, Exponential Coordinates 
MLS Pages 3550  N/A  
10 Feb (W)  Motion Capture Rigid Body Velocities 
MLS Pages 5161; 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 2.42.5  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 8194  N/A  
23 Feb (W)  Denavit Hartenberg Convention  MLS Chapter 3, pages 8194  N/A  
25 Feb(F)  Forward Kinematics via the DenavitHartenberg Convention  MLS Ch 3,  DHParameters (from Wikipedia), Scan from Craig Book on DH Parameters  
9 
Forward/Inverse Kinematics  
29 Feb (M)  DenavitHartenberg 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 115120;  N/A  Optional Homework 6  
7 Mar (M)  Jacobian Matrix (continued), Endeffector forces  MLS Ch 3, 121123;  N/A  
9 Mar (W)  Manipulator Singularities  MLS Ch 3, pp 123127  N/A 