Announcements


Overview

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.

Course Staff


Schedule

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.


DATE
LOCATION
TOPIC
ASSIGNMENTS
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 -

Information

Grading Prerequisites
A good understanding of linear algebra and calculus. The official prerequisites are: One of MATH 225, MATH 286, MATH 415, MATH 418..

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