ELEC 442: Introduction to Robotics

Sec 101 of Fall 2018 (Winter 2018, Term 1)

 

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)

Topic Learning Goals

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

 

 

 

 

1

Sep 3-7

Sept 3: Labour Day (UBC Closed)

0. Introduction and Nomenclature (annotated slide set)

1. Mathematical Preliminaries (slide set, annotated)

 

2

Sep 10-14

 

3

Sep 17-21

2. Forward (Direct) Kinematics (slide set, annotated)

Assgt #0, (solns) 

4

Sep 24-28

3. Velocity Kinematics (slide set, annotated)

 

5

Oct 1-5 

4. Inverse Kinematics (slide set)

MT1 on Oct 5 (solns)

Assgt #1 (solns)

6

Oct 8-12

Oct 8: Thanksgiving (UBC closed)

7

Oct 15-19

5. Parallel Manipulators

Assgt #2 (due Oct 19)

8

Oct 22-26

6. Dynamics

 

9

Oct 29-Nov 2 

 

 

10

Nov 5-9

MT2 on Nov 9

 

11

Nov 12-16

Nov 12: In Lieu of Remembrance Day (UBC closed)

7. Control

 

12

Nov 19-23

 

 

13

Nov 26-30

 8. Review

 

 

 

Final Exam