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Spring Semester 2008 |
Introduction to Robotics
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Instructor: S. B.
Skaar
Office: 379
Fitzpatrick
Ofc. Hrs: TTh 9:30-12:00
a.m. (stop by or email me – skaar.1@nd.edu – any time)
Texts:
Craig, John J., Introduction to Robotics,
3d Ed’n, Prentice Hall
Skaar, SB and Delcastillo, G, Revisualizing
Robotics, DNA Press
Grading:
In-class midterm:
20%
Final exam:
35%
Weekly HW/proj’s: 45%
(Homework will be assigned each Wednesday and due the following Wednesday. In a couple of cases homeworks
will entail half-hour, scheduled data-collection episodes in the robotics lab,
357C Fitzpatrick. Each of the weeks for
which lab data-collection is required, you’ll be asked to sign up for one of
several half-hour sessions in 357C Fitzpatrick to do the data collection.)
Topics:
- kinematics of
holonomic and nonholonomic robots
-
robot kinetics (dynamics)
- actuator dynamics
-
joint-level robot controllers;
closed-loop response
- issues in trajectory planning
- typical
teach/repeat protocol used in industry
- estimation and the
extension of teach/repeat to nonholonomic robots
- other means of
controlling robots apart from teach/repeat, including use of vision and
proximity sensing
- the “big
picture”. Where have we been? Where are things going to go? What are the prospects?