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Teaching » Syllabus: Introduction to Robotics 2011

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Note: This syllabus will be modified continuously to accommodate the progress and interests of the course participants!

Jan. 10IntroductionS&S: Chapter 1
Jan. 12Matrix Algebra RefresherS&S: Appendix A
Jan. 19Basic Linear Control Theory IBook Chapters
Jan. 24Frequency Domain Analysis, Introduction to Matlab/SimulinkBook Chapter,
Matlab/Simulink Introduction
Jan. 26Basic Linear Control Theory IIBook Chapter
Jan. 31Case Study I: Stabilization of an Artificial Eye SystemManual for robot simulator
Feb. 2Coordinate TransformationsS&S: Chapter 2.1-2.7,
Homework 1
Feb. 7Introduction to the Robotics Operating System (ROS) 
Feb. 9canceled 
Feb. 14Direct KinematicsS&S: Chapter 2.7-2.10 ,
Feb. 16Inverse KinematicsS&S: Chapter 2.11, 3.1-3.7,
Feb. 23Dynamics: Lagrangian FormulationS&S: Chapter 4.1-4.4,
Feb. 28Dynamics: Newton-Euler Formulation and SoftwareToolsS&S: Chapter 4.5-4.8
Mar. 2Nonlinear ControlS&S: Chapter 6
Mar. 7Trajectory PlanningS&S: Chapter 5
Homework 2
Mar. 9Force ControlS&S: Chapter 7
Mar. 14Spring Break 
Mar. 16Spring Break 
Mar. 21Sensors & Actuators, FilteringS&S: Chapter 8
Mar. 23Optimal Control 
Mar. 28Kalman FilteringHandout, More info on Kalman Filtering
Mar. 30Adaptive Control 
April. 4Introduction to Real-Time Control with Xenomai,
Case Study: Gravity Compensation of a 7 DOF Robot Arm - Theory
WindriverSystems Handout,
Manual for programming the robot
Homework 3
April 6Case Study: Gravity Compensation of a 7 DOF Robot Arm - Implementation, Discussion of Robot ProjectTAR Archive with Robot Simulator,
Homework 4
April 11Labs/ Projects Preparation (no class) 
April 13Questions and Answer Section concerning Project 
April 18Labs/ Projects Preparation (no class) 
April 20Project presentations 
April 25Project presentations (continued), Q&A for Final Quiz Preparation, and videos of cool robotics research 
April 272:30-3:30pm (for Section 1), 3:30-4:30 (for section 2), SLH 100 Final Quiz (closed book, all material of the course) 
Designed by: Nerses Ohanyan & Jan Peters
Page last modified on January 13, 2012, at 02:40 AM