Introduction to Robotics, 2014 Fall

• Syllabus

• Schedule

Week	Topics	Topics	Lecture Notes
1	Introduction	개요
2	Sensors and Actuators	센서와 구동기	http://www.aistudy.com/robot/sensor_niku.htm
3	Kinematics of robots: Matrix Representation	로봇운동학 I: 행렬 표현	Handout
4	Kinematics of robots: Forward and Inverse Kinematics, DH parameters	로봇운동학 II:
5	Kinematics of robots: Inverse kinematic solution	로봇운동학 III:
6	Kinematics of robots: Inverse kinematic solution	로봇운동학 IV
7	Midterm Exam	중간고사
8	Project Design Presentation; Motion and velocities: Jacobian	프로젝트 발표; 모션과 속도
9	Dynamics: Lagrangian	동역학
10	Trajectory planning I	경로계획 I
11	Project presentation; Trajectory planning II	프로젝트 발표; 경로계획 II
12	Motion Control: Basics	모션제어 I
13	Motion Control: Controller	모션제어 II
14	Term project presentation	프로젝트 최종발표
15	Final Exam	기말고사

 

 

Lecture materials

Sensors: http://www.aistudy.com/robot/sensor_niku.htm

Electrical Elements: Lecture Slides

 

Resources

Lego MindStorm:

Lego MindStorm Driver

Not Exactly C (Programming software, similar to C); NXC Guide; NXC Tutorial

Segway:

NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design;

HTWay – A Segway type robot; Sample Code (NXC, Modified)

Lego Segway Challenge: an introduction to embedded control; Sample Code (NXC, Modified): Code1, Code2