Catalog Description: An introduction to the kinematics, dynamics, and control of robot manipulators, robotic vision, and sensing. The course covers forward and inverse kinematics of serial chain manipulators, the manipulator Jacobian, force relations, dynamics, and control. It presents elementary principles on proximity, tactile, and force sensing, vision sensors, camera calibration, stereo construction, and motion detection. The course concludes with current applications of robotics in active perception, medical robotics, and other areas.
Units: 4.0
Prerequisites: EE 120 or equivalent, consent of instructor.
Department Notes:
Course objectives: The goal of this course is to provide a unified introduction to the area of robotics for advanced undergraduates and beginning graduate students. This course provides a broad exposure to the subject. A key aspect of the course is Biorobotics, which includes biological analogies of robotic systems, teleoperation, and medical applications of robotics. For students interested in further work in robotics, this course provides a useful introduction to more specialized graduate courses, CS 280 (Computer Vision) and CS 287 (Advanced Robotics).
Topics covered:
- Manipulator Kinematics, Dynamics and Control:
- Coordinate transforms
- Forward and inverse kinematics
- Manipulator dynamics
- Position control and trajectory generation
- Force control and force strategies
- Tele-operation:
- "Black box" human operator models
- Network modeling of human, teleoperator, and environment
- Teleoperator design: stability and fidelity
- Sensing for Robotics:
- Contact sensing: tactile and force sensors
- Proximity sensing: acoustic, infrared
- Introduction to computer vision: 2-D and 3-D vision, visually guided navigation and manipulation
- Robot Planning:
- Task level programming
- Configuration space
- Gross motion planning: obstacle avoidance
- Fine motion and force strategies: assembly, insertion
- Basic grasping
- Integration of planning, sensing, and control: applications and examples
- Robotics in Society:
- Applications of robotics and teleoperation
- Safety in interaction between robotics and humans
- Ethical issues in applications: medical, defense, industry
Related Areas: