Welcome to "Introduction to Robotics" (ECE 470/AE 482/ME 445) for Spring 2022.
The goal of this course is to introduce students to the fundamentals of robotics including rigid motions; homogeneous transformations; forward and inverse kinematics; velocity kinematics; motion planning; trajectory generation; sensing, vision; control. 4 undergraduate hours. 4 graduate hours.
TBD
Here is a tentative schedule of lectures, materials, assignments. The class meets on Tuesday and Thursday from 12:30 to 13:50 pm CT at ECEB 1015. Materials and assignments will be added as they become available.
| 1 | Tue, 1/18 | Online | Introduction to the course | - |
| 2 | Th, 1/20 | Online | Configuration space | - |
| 3 | Tue, 1/25 | ECEB 1015 | Rigid-Body Motions: rotation matrices and homogeneous transformations | - |
| 4 | Th, 1/27 | ECEB 1015 | Exponential Coordinates and logarithm | - |
| 5 | Tue, 2/1 | ECEB 1015 | Homogenous transformations, angular velocities and twists | - |
| 6 | Th, 2/3 | ECEB 1015 | Representation of the velocities of frames | - |
| 7 | Tue, 2/8 | ECEB 1015 | Screw motions and their twists(1) | - |
| 8 | Th, 2/10 | ECEB 1015 | Screw motions and their twists(2) | - |
| 9 | Tue, 2/15 | ECEB 1015 | Forward Kinematics: Product of Exponentials formula | - |
| 10 | Th, 2/17 | ECEB 1015 | Changing frames in PoE | - |
| 11 | Tue, 2/22 | ECEB 1015 | Denavit-Hartemberg formalism and URDF | - |
| 12 | Th, 2/24 | ECEB 1015 | Velocity Kinematics: Jacobians and singular configurations | - |
| 13 | Tue, 3/1 | ECEB 1015 | Review | - |
| 14 | Th, 3/3 | ECEB 1015 | Midterm | - |
| 15 | Tue, 3/8 | No lecture | Midterm evaluation | - |
| 16 | Th, 3/10 | ECEB 1015 | Midterm review | - |
| - | Spring Break | - | ||
| 17 | Tue, 3/22 | ECEB 1015 | Inverse kinematics (1) | - |
| 18 | Th, 3/24 | ECEB 1015 | Inverse kinematics (2) | - |
| 19 | Tue, 3/29 | ECEB 1015 | Inverse kinematics (3) | - |
| 20 | Th, 3/31 | ECEB 1015 | Kinematics of closed chains (1) | - |
| 21 | Tue, 4/5 | ECEB 1015 | Kinematics of closed chains (2) | - |
| 22 | Th, 4/7 | ECEB 1015 | Trajectory generation | - |
| 23 | Tue, 4/12 | ECEB 1015 | Motion Planning (1) | - |
| 24 | Th, 4/14 | ECEB 1015 | Motion Planning (2) | - |
| 25 | Tue, 4/19 | ECEB 1015 | Robot Control (1) | - |
| 26 | Th, 4/21 | ECEB 1015 | Robot Control (2) | - |
| 27 | 4/26 | ECEB 1015 | Guest lecture | - |
| 28 | 4/28 | ECEB 1015 | Review | - |
| 29 | Tue, 5/10 | ECEB 1015 | Final | - |