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CS 443 / ECE 470 / IESE 421 / MechSE 445 The University of Illinois at Urbana-Champaign Daily Schedule |
| Date | Topic | Assignments |
| Aug. 26 | General introduction and overview of the course | |
| Aug. 28 | Mathematical models of robots, mechanical description of robots, examples | Read Chap. 1 |
| Sep. 2 | Rotation matrices, coordinate transformations, composition of rotations | Homework #1
Read Chap. 2 |
| Sep. 4 | Groups and SO(n), parameterizations of SO(3), Euler angles | |
| Sep. 9 | Homogeneous transformations, Similarity transformations, rotations w.r.t. the fixed frame, roll, pitch, yaw angles; axis/angle representation | |
| Sep. 11 | Forward kinematics, Denavit-Hartenberg convention, derivation of D-H transformation matrix | Read 3.1 and 3.2 |
| Sep. 16 | Forward kinematics: assigning link frames using the DH convention. | Homework #2 |
| Sep. 18 | Forward kinematics examples | |
| Sep. 23 | Inverse kinematics, geometric method, kinematic decoupling, spherical wrist | Read 3.3 |
| Sep. 25 | Inverse kinematics examples. Also, have a look at these two examples: planar RRR manipulator and articulated manipulator with spherical wrist. | Homework #3 |
| Sep. 30 | No lecture due to evening exam | |
| Oct. 2 | so(3) and the derivative of a rotation matrix | Read Chapter 4.1-4.3 |
| Oct. 7 | Velocity of a point attached to a moving frame, addition of angular velocities, the manipulator Jacobian | Read 4.4-4.6
Homework #4 |
| Oct. 9 | Guest Lecture: Tim Bretl | |
| Oct. 14 | Jacobian examples, singularities | Read 4.9 |
| Oct. 16 | Jacobians: review, example manipulator Jacobians, singularity examples | |
| Oct. 21 | Computer vision overview, segmentation | |
| Exam 1: 7:00, Tuesday, Oct. 21 in Rm. EL 151. | ||
| Oct. 23 | Recursive formulation to minimize within-group variance | Read 11.3 |
| Oct. 28 | Connected components moments, position and orientation in binary images | Read 11.4-11.5 |
| Oct. 30 | Imaging geometry, camera calibration |
Read 11.1-11.2 Homework #5 |
| Nov. 4 | Inverse Velocity | Read 4.11 |
| Nov. 6 | Manipulability (including singular value decomposition) | Read 4.12 and Appendix B |
| Nov. 11 | Path planning (overview) | Read 5.1 Homework #6 |
| Nov. 13 | Path planning with artificial potential fields | Read 5.2 |
| Nov. 18 | Planning as optimization, Sampling-based methods for path planning | Read 5.3, 5.4 |
| Nov. 20 | Visual servo control - the interaction matrix | Read 12.1, 12.2, 12.3 |
| Dec. 2 | Image-based control, concepts in stability | Read 12.4 |
| Dec. 4 | Perspectives on image-based visual servo | |
| Dec. 9 | Walking Robots |