EE451

EE451 Introduction to Robot Control

Fall 2017  Course Information

The aim of this course is to provide an introduction to robotics and control. The goal is to familarize the students with the  fundamental concepts in robot motion control.

  • Class:
  • Textbooks:
  • Syllabus
  • Projects – Projects will be available from the respective week in syllabus.
  • Grades – Grades will be available from this link.

Instructor

Instructor: Prof. H. Işıl Bozma

Teaching Assistant: Kadir Türksoy (ISL)

Class

Lectures: Mondays 9-10 @ Maxwell, Wednesdays 9-11@ Maxwell

Prerequisites : Working knowledge of Matlab & Simulink,  C or C++,

Textbooks

Robot Modelling and Control, M. Spong, S. Hutchinson and M. Vidyasagar (SHV).

There are some printing errors in the book. These are listed in errata.

Grading

Grading will be based on projects including a  term project, one midterm  and a final. I will also expect you to attend the lectures and contribute to class discussions.The weights of each will tentatively be:

Projects Term Project Midterm Final Class participation
0,36 0,12 0,19 0,28 0,05

Please note that only students with passing performance in  class, project and midterm grades will be allowed to take the final.

For this, class attendance must be at least 70%.  You may find the current status of your attendance from this link.

Syllabus  Fall 2017   

Tentative Schedule: Please note that the Schedule is tentative and will probably change throughout the semester based on our progress. So pls check the syllabus continually.

Please note that most of the material presented in the Lecture Slides are directly from the  HSV book.

  • Week  1 (18 -22  Sep.  )
    •    General Intro
    • Introduction (SHV Chap 1)
    • Introduction (SHV  Chap 2)
      • Robots – Mechanics and mechanisms
        • Cartesian Workspace  (SHV Ch2)
        • Metric properties of rigid objects and Euclidean transformations
        • Rotations and translations
        • Coordinate systems – Homogeneous representations
        • Lecture slides
  • Week  2 (25 -29 Sep.  )
    • Cartesian workspace continued.
  • Week 3 ( 2 – 6 Oct)
    • Kinematics  (SHV Ch 2 cont, SHV Ch 3)
      • Planar kinematics
      • Kinematic transformations
      • Inverse kinematics
      • Lecture slides
  • Week 4 ( 9 – 13 Oct)
    • Kinematics (cont)
    • pr1
    • Optional: There is a toolbox available that will allow you to define a robot topology.  The information is provided at the link:https://www.youtube.com/watch?v=FO4v1gQNwIY
    • Pls check it out!
    • sample_scenes
    • build_robot
  • Week 5 (16 – 20 Oct)
  • Week 6 (23 -27  Oct
    • Review of multivariable calculus: gradients, tangent vectors, jacobians
    • Velocity kinematics
    •  Lecture Slides
  • Week 7 (30 Oct – 3 Nov )
    • Velocity kinematics cont.
  • Week 8 (6 – 10 Nov)
  • Week 9 (13 – 17 Nov)
  • Week 10 (20 -24 Nov )
  • Week 11 (27 Nov  – 1 Dec )
  • Week 12 (4- 8Dec)
  • Week 13 (11 – 15 Dec)
  • What next? Dynamics, Sensors...
  • Wrap-up

BE SURE TO REFER TO ANY LITERATURE/EXTERNAL CODE you have examined or used.

In the projects, you may discuss problems with your classmates. However, every student is expected to do the actual write-up or the programming of the project by himself or herself.

Projects

We will be using V-REP.

Download & install V-REP PRO EDU version from the link: http://www.coppeliarobotics.com/downloads.html

User manual and step-by-step tutorials on how to use V-Rep :

http://www.coppeliarobotics.com/helpFiles/index.html

You can either write a script on V-REP script editor or external controller using C++.

Robotics-Toolbox

You will be using a matlab robotics toolbox in part of the projects. This is available from the following website.
http://petercorke.com/Robotics_Toolbox.html