EECE 487: Introduction to Robotics 

Spring 2010-2011

Instructor: Prof. Tim Salcudean, Kaiser 3060. (604) 822-3243, tims@ece.ubc.ca.
Office Hours:  Thursday 11:00-12:00 or by appointment.

Course Webpage: http://courses.ece.ubc.ca/487 
Please check the following link for course information: Announcements

Lectures:  Tuesday & Thursday 9:30-11:00 MCLD202.

Teaching Assistant:  Sara Mahdavi (saram@ece.ubc.ca).

Grading: Homework 35%, First Midterm 15%, Second Midterm 20%, Final examination 30%.
Homeworks include small projects using Matlab and a force-feedback device and requires that students form groups. Five students each is the preferred group size, but may not be achievable, so will accept some groups of 6 and 4.
Projects graded by the TA based on written and oral report.

Course notes: The required reading can be downloaded from the course webpage through the links below.
The tentative lecture notes will be available ahead of class. The scanned pdf files of actual class material will be available after class.

§         Introduction notes, tentative lecture slides, lecture slides1, lecture slides2 and lecture slides3.

§         Mathematical preliminaries notes; tentative lecture slides and lecture slides1,  slides,  slides3, and slides4.

§         Forward Kinematics notes; tentative lecture slides  and lecture slides1  and  slides2.

§         Velocity Kinematics notes and tentative lecture slides  and  lectures slides1, slides2

§         Inverse Kinematics notes and tentative lecture slides and  lectures slides.

§         Parallel Kinematics notes, tentative lecture slides and lecture slides

  §         Newton's method for serial manipulators and trajectory generation class slides

§         Dynamics notes,  lecture slides1 , slides2, slides3 and marked slides1, slides2, slides3. 

§         Control notes, tentative lecture slides and lecture slides1.

§         Review slides and class slides.

 

Tentative lecture plan [Week 1 (Jan 3)] Course organization, introduction to the topic. Common robot configurations, technology and applications. Notational convention for rotational and prismatic joints.
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•[Week 2 (Jan. 10)]  PD control of a simple mass. Energy interpretation. Path planning. Single and double pendulum example.
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•[Week 3  (Jan 17)]  Vectors, points, linear and affine transformations and their coordinate representations. Change of coordinates. Structure of rotations and reflections.  Matrix exponential representation of rotation.  Direct kinematics. Denavit-Hartenberg convention.
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•[Week 4  (Jan 24]  Angular velocity. Addition of angular velocities. Velocity kinematics. Manipulator Jacobians. Singularities.
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•[Week 5  (Jan 31)]  The geometric approach to inverse kinematics. Prototype inverse kinematics problems. Wrist-arm decomposition. Examples (inverse kinematics of spherical wrist, PUMA, CRS, Stanford manipulators).
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• [Week 6  (Feb 7)] Review for midterm. Midterm #1: Thursday Feb 10.
[Week 7  (Feb 14)] Reading Week (no classes).
•[Week 7 (Feb 21)] Parallel manipulators.
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•[Week 8 (Feb 28)] The Newton-Euler approach to the dynamics of serial manipulators.
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•[Week 9 (March 7)]  The Euler-Lagrange approach to the dynamics of serial manipulators.
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•[Week 10 (March 14)]  Manipulator position control in joint space: computed-torque, feedforward, and PD+gravity position control.
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•[Week 11 (March 21)]  Review for midterm. Midterm #2: Thursday  March  24.
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•[Week 12 (March 28)] Stability of PD+gravity control using Lyapunov's second method. Manipulator position control in task space: resolved acceleration control and stiffness control. Advanced Topics.
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•[Week 12 (April 4)]  Review. Advanced topics. 
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Suggested References:

J.Craig, "Introduction to Robotics: Mechanics and Control" (3rd Edition). Addison-Wesley, 2005.
R.M. Murray, Z. Li and S.S. Sastry, “A Mathematical Introduction to Robotic Manipulation”. CRC Press, 1994 (closest text in notation).
L. Sciavicco and B. Siciliano, “Modeling and Control of Robot Manipulators” (2nd Edition). Springer Verlag, 2000.
M.W. Spong, S. Hutchinson and M. Vidyasagar, "Robot Modeling and Control", Wiley 2005.
M.Brady et al (eds.), "Robot Motion: Planning and Control". MIT Press, 1983.
T. Yoshikawa, "Foundations of Robotics: Analysis and Control",  The MIT Press, 1990.
K.S. Fu, R.C. Gonzales and C.S.G. Lee, "Robotics: Control, Sensing, Vision, and Intelligence". McGraw-Hill, 1987.
L. Meirovitch, "Methods of Analytical Dynamics", McGraw-Hill, 1970.