Introduction to Robotics
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Syllabus
- Schedule (subject to change)
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Week
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Topics
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Topics
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Lecture Notes
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1 |
Introduction | 개요 | Introduction |
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2 |
Kinematics of robots: Overview, Rotational Matrix | 로봇 운동학 개요, 회전 행렬 | Overview, Rotation |
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3 |
Kinematics: Translation and combined transformation, | 운동학: 이동과 회전 운동 | Translation and combined transformation, Composition of transformation |
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4 |
Kinematics: Composition of transformation | 운동학: 일반적 운동 | |
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5 |
Kinematics: Euler angles, Roll-Pitch-Yaw angles | 운동학: 오일러 회전각, 롤-피치-요 회전각 | Orientation angles |
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6 |
Manipulator Kinematics | 매니퓰레이터 운동학 | Manipulator Kinematics |
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7 |
DH parameters | DH 파라미터 | Forward and Inverse Kinematics |
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8 |
Midterm Exam | 중간고사 | |
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9 |
Forward Kinematics of a Manipulator Robot | 매니퓰레이터 로봇 정운동학(정기구학) | Project Assignment 1 |
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10 |
Inverse Kinematics of a Manipulator Robot | 매니퓰레이터 로봇 역운동학(역기구학) | Project Assignment 2 |
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11 |
Motion and velocities: Jacobian | 모션과 속도: 자코비언 | Jacobian; Project Assignment 3 |
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12 |
Trajectory planning | 경로계획 | Trajectory Planning; Project Assignment 4 |
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13 |
Dynamics: Lagrangian, Control Basics | 동역학기초, 제어기초 | Dynamics, Controls |
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14 |
Sensors and Actuators; Term project presentation | 센서와 구동기; 프로젝트 최종발표 | Link: sensor_niku |
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15 |
Final Exam | 기말고사 | Term Project Report |
- 장애학생 지원사항: 강의 수강, 과제 및 평가 관련 지원서비스가 필요한 장애학생은 장애학생지원센터(042-821-1963, 학생회관)로 문의 바람.
Robotics Toolbox Tutorial
- Robotics Toolbox Website
- Manual
- Tutorial by Dr. Nader Mansour
- Sample codes by Dr. Nader Mansour
UR Robot Resources
MATLAB Toolbox for UR Manipulators
Universal Robots RTDE C++/Python Interface
Term Project
- Assignment 1: Determine D-H parameters of manipulator robots
- Assignment 2: Find the forward kinematics of the robot and robot workspace
- Assignment 3: Find the inverse kinematics of the robot
- Assignment 4: Plan and implement trajectories of the robot using the following Initial and Final Robot Configurations
- 보고서 및 과제 표지 기재사항: 과제명/보고서 이름, 반과 팀, 제출일자, 팀원
- Template for reports (보고서 템플릿):
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2018 Project Team Formation : Click here
Boundary conditions and joint constraints (maximum velocity and acceleration) for the term project (조별로 할당된 최종 좌표와 방향을 사용해야함)
[Sample Mathscript code for robot trajectory planning]
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q0 = 1
%Acceleration
if (t >=0) && (t <= 0.3)
q1 = q0 * t^2 % for theta1
q2 = q0 * t^2 % for theta2
q3 = q0 * t^2 % for theta3
%Constant velocity
elseif (t >0.3) && (t <= 0.6)
q1 = -10 + 60*t
q2 = -10 + 60*t
q3 = -10 + 60*t
%deceleration
elseif (t >0.6) && (t <= 1)
q1 = 180 – 90*t^2
q2 = 180 – 90*t^2
q3 = 180 – 90*t^2
end
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Lecture materials
Sensors: http://www.aistudy.com/robot/sensor_niku.htm
Electrical Elements: Lecture Slides
Where the Laplace Transform comes from (Arthur Mattuck, MIT)
Resources
Lego MindStorm:
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