Fall 2004 CSE592 Introduction to Robotics

Dimitris Samaras

Tue –Thu 6:50-8:10 2129 Computer Science

Course Description:

This course introduces fundamental concepts in Robotics. In the first half of the course, basic concepts will be discussed, including coordinate transformation, kinematics, dynamics, Laplace transforms, equations of motion, feedback and feedforward control, and trajectory planning. These topics will be exemplified with Matlab/Simulink simulation studies. The second half of the course will focus on applying the knowledge from the initial lectures to various motor systems, including manipulators, artificial eye systems, locomotory systems, and mobile robotics. There will be homeworks for Matlab/Simulink and a final project, a midterm and a final. This course is intended for graduate students with interests in Robotics, Visual Computing, AI. Advanced undergraduates with a demonstrated interesting Robotics are also welcome. Prerequisites include a foundation in Linear Algebra and Calculus, and the ability to program, preferably in C/C++.

Topics:

• Introduction
• Matrix Algebra Refresher
• Basic Linear Control Theory I
• Frequency Domain Analysis, Introduction to Matlab/Simulink
• Basic Linear Control Theory II
• Coordinate Transformations
• Direct Kinematics
• Dynamics: Lagrangian Formulation
• Dynamics: Newton-Euler Formulation and Software Tools
• Inverse Kinematics
• Nonlinear Control
• Trajectory Planning
• Force Control
• Sensors & Actuators, Filtering
• Optimal Control
• Kalman Filtering
• Behavior-based control
• Behavior coordination

Primary textbook:
• J. J. Craig, Introduction to robotics (Third ed 2003 Prentice Hall).
• L. Sciavicco, B. Siciliano, Modeling and control of robot manipulators (Springer Verlag 2000)
• Behavior-Based Robotics by R. Arkin.

There will be homeworks, a final project, a midterm and a final exam. Homeworks will be 35%, the project 30%, the midterm 15% and the final 20%. Weights are approximate and subject to change. You are expected to do homeworks (4 or 5) by yourselves. Even if you discuss them with your classmates, you should turn in your own code and write-up.  Final projects can be done by one or two people. Two people projects will be scaled accordingly.

Midterm date:
Final date:
You can have one sheet of paper as in the midterm.

Contact info:

D. Samaras, Tel. 631-632-8464
email: samaras@cs.sunysb.edu
Office Hours: Tue., Wed 1:30pm to 3pm, or by appointment
Computer Science room 2429