ECE 470
Introduction to Robotics

      University of Illinois at Urbana-Champaign


Date Topic Assignments  
Aug. 29 General introduction and overview of the course Read Chap. 1
Aug. 31 Rotation matrices, SO(n) Read 2.1, 2.2
Sep. 5 Coordinate transformations, composition of rotations Read 2.3, 2.4
Sep. 7 Homogeneous transformations, Coordinate transformation examples Read 2.6, 2.7
Sep. 12 Parameterizations of SO(3), Euler Angles Read 2.5  
Sep. 14 Similarity transformations, rotations w.r.t. the fixed frame, axis/angle representation  
Sep. 19 Forward kinematics: Denavit-Hartenberg convention and the derivation of D-H transformation matrix, assigning link frames using the DH convention.  Read 3.1 and 3.2
Sep. 21 Forward kinematics examples  
Sep. 26 Open Discussion Session on using ROS for lab assignments.
Since most of you have not used ROS before, and since many of you may not be familiar with C++ programming, this lecture will be devoted to answering any questions you may have and explaining any difficult concepts.