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Schedule: T & TH 11:00 am - 12:15 pm Location: ENG 4 Instructor: Yu Sun (contact information) Office Hours: ENB 331, T & TH 1:00 pm - 2:00 pm TA: Yun Lin (gtlinyun AT gmail DOT com) TA Hours: ENB 329, M 10:00-11:00 AM & TH 12:30 - 1:30 PM |
| Objectives: | |
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Students will be taught - 1. fundamentals of robotics 2. algorithms for designing robot motion 3. examples of robotic systems |
| Pre-Requisites: | |
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Data structure, basic linear Algebra and Matlab
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| Textbooks: | |
| Required: | |
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Robot Modeling and Control by Mark M. Spong, Seth Hutchinso, and M. Vidyasagar (ISBN: 9780471649908) |
| Recommended: | Robotics, Modelling, Planning and Control
By Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo Principles of Robot Motion: Theory, Algorithms, and Implementations, by Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor Introduction to AI Robotics, by Robin R. Murphy |
| Schedule (tentative): |
| Date | Topics and notes | Reading | Homework | Due |
| 25 Aug | Introduction | |||
| 27 Aug | Basics of Robotics | Chapter 1 | ||
| 01 Sep | Linear algebra revisit and programming tutorial | Appendix A | ||
| 03 Sep | Representing positions and rotations | Chapter 2.1, 2.2 | ||
| 08 Sep | Rotational transformations | Chapter 2.3, 2.4 | HW1 | |
| 10 Sep | Parameterizations of rotations | Chapter 2.5, 2.6 | ||
| 15 Sep | Homogeneous transformations | Chapter 2.7 | ||
| 17 Sep | Kinematic chains and DH convention | Chapter 3.1 3.2 | ||
| 22 Sep | DH convention | Chapter 3.2 | HW2 | HW1 |
| 24 Sep | Forward kinematics and inverse kinematics | Chapter 3.2 | ||
| 29 Sep | Guess speaker Dr. Redwan Alqasemi & Inverse kinematics | |||
| 01 Oct | Inverse kinematics -- Geometric approach | Chapter 3.3 | ||
| 06 Oct | Angular velocity | Chapter 4.1-5 | ||
| 08 Oct | Jacobian | Chapter 4.6 | HW2 | |
| 13 Oct | Mid-term exam 1 | |||
| 15 Oct | Canceled | |||
| 20 Oct | Jacobian | 4.6 | ||
| 22 Oct | Sensors and actuators | Hand out | HW3 | |
| 27 Oct | Trajectory design | Chapter 5.5 | ||
| 29 Oct | Configuration space and Gest speaker Dr. Luther Palmer | Chapter 5.1 | ||
| 03 Nov | Search algorithm and motion planning | Hand out and Chapter 5.4 | ||
| 05 Nov | Motion planning -- PRM | Chapter 5.4 | HW4 | HW3 |
| 10 Nov | Motion planning -- potential field | Chapter 5.2-3 | ||
| 12 Nov | Dynamics | Chapter 7.1-2 | Final project out | HW4 |
| 17 Nov | Mid-term exam 2 | |||
| 19 Nov | Guest Lecture | |||
| 24 Nov | Review | |||
| 01 Dec | Research Topics | Report | ||
| 03 Dec | Final project presentations | |||
| Homeworks: |
| Most of the homework has programming problems that can be completed in C/C++ or Matlab. |
| Final project: |
| The final project will be announced in early November. |
| Grading: |
40% homework (10% each assignment)) 20% mid-term 1 20% mid-term 2 20% final project and presentation Using your USF NetID, you will be able to access your grades on Blackboard. |
| Course Policies: |
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Attendance: each absence will reduce the student's final grade by 2%. Late assignments: the grade will be reduced 20% for each day after due day. Plagiarism: if you are caught cheating/plagiarizing, you will receive "F" for you final course grade. Please refer USF Undergraduate Catalogue. HINI outbreak: if there is an outbreak and the USF is closed, the class will continue on blackboard (http://my.usf.edu). Notes and tapes: all the notes or tapes are not permitted for purpose of sale. |
* Every part of this syllabus is subject to adjustment.