Announcements (updated Oct 2, 2018)
Instructor: Joseph Yan, Kaiser 3061 (OH: M 4-5pm and F 2-3pm, or by appt), 604-827-5219, josephy@ece.ubc.ca
Teaching Assistants: Sugun Machipeddy sugun.machipeddy@gmail.com and Ankita Rathi ankitarathi94@gmail.com
Lecture Schedule: MWF 3-4pm (ESB 2012)
Text: Course notes provided in the links below, authored by S. E. Salcudean.
Optional References:
· K.M. Lynch and F.C. Park, "Modern Robotics: Mechanics, Planning and Control", Cambridge, 2017.
· P. Corke, "Robotics, Vision and Control: Fundamental Algorithms in Matlab, 2nd ed", Springer Tracts in Advanced Robotics, 2017.
· B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, “Robotics: Modeling, Planning and Control”. Springer Verlag, 2009.
· J.Craig, "Introduction to Robotics: Mechanics and Control" (3rd Edition). Addison-Wesley, 2005.
· M.W. Spong, S. Hutchinson and M. Vidyasagar, "Robot Modeling and Control", Wiley 2005.
· R.M. Murray, Z. Li and S.S. Sastry, “A Mathematical Introduction to Robotic Manipulation”. CRC Press, 1994
Course Webpage: http://courses.ece.ubc.ca/elec442/
Tentative Grading Scheme:
· Assignments (15%)
· MT#1 (15%), MT#2 (20%)
· Final Exam (50%)
Tentative schedule
Wk |
Dates |
Topics |
Assignment |
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1 |
Sep 3-7 |
Sept 3: Labour Day (UBC Closed) 0. Introduction and Nomenclature (annotated slide set) |
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2 |
Sep 10-14 |
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3 |
Sep 17-21 |
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4 |
Sep 24-28 |
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5 |
Oct 1-5 |
4. Inverse Kinematics (slide set) MT1 on Oct 5 (solns) |
|
6 |
Oct 8-12 |
Oct 8: Thanksgiving (UBC closed) |
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7 |
Oct 15-19 |
Assgt #2 (due Oct 19) |
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8 |
Oct 22-26 |
6. Dynamics |
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9 |
Oct 29-Nov 2 |
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10 |
Nov 5-9 |
MT2 on Nov 9 |
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11 |
Nov 12-16 |
Nov 12: In Lieu of Remembrance Day (UBC closed) 7. Control |
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12 |
Nov 19-23 |
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13 |
Nov 26-30 |
8. Review |
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Final Exam |
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