CSCI 4963/6965 - Robotic Manipulation: Analysis and Algorithms

Syllabus: Fall 2006

Assumed background:

1. Calculus I and II and Physics I

2. Facility with a high-level programming language

 

Useful, but not essential background:

1. Linear algebra

2. Differential equations

3. Multi-variable calculus

 

Text: M.T. Mason, Mechanics of Robotic Manipulation, MIT Press, 2001. Errata are detailed here.

 

Reference: S. M. LaValle, Planning Algorithms, Cambridge U Press, 2006.  It’s on line:  http://planning.cs.uiuc.edu/

 

Color Key for Table below

Pink – Order or content may change.

Terquiose – No class

 

Approximate Course Outline

Date

Reading

Topic

Lecture Slides

Other Stuff

8/28

Chapter 1

manipulation

mtm lecture 1

jct_lecture_1

8/31

Section 2.1, Appendix A

kinematic preliminaries

mtm lecture 2

jct notes - displacements summary

9/1

Ravi paper

1:00 pm Ravi Balasubramanian-JEC 3117

 

Talk attendance is optional

9/4

NO CLASS

LABOR DAY

 

 

9/7

Section 2.2

planar kinematics

mtm lecture 3

jct_notes – find_form_cl_grasp

9/11

Sections 2.3-2.5

spatial kinematics

mtm lecture 4

jct notes – form closure

9/14

Sections 2.5,2.6

nonholonomic constraints

mtm lecture 5

 

9/18

Section 3.1

spatial orientation - Rodrigues' formula

mtm lecture 6

 

9/21

Section 3.1

spatial orientation - quaternions

mtm lecture 7

 

9/25

Section 3.2

Galvaz paper

spatial displacements - screw coordinates

mtm lecture 8

 

9/28

Section 3.3

representing constraint

mtm lecture 9

jct notes – representing constraint

10/2

Sections 4.1, 4.2

LaValle paper

path planning

mtm lecture 10

jct notes – path planning supplement

10/5

Manocha paper

path planning for deformable objects

 

 

10/10

NO CLASS

 

 

 

10/12

 

ATTEND MANOCHA COLLOQUIUM

3:50-5:00

JEC 3117

10/16

Section 2.6, 4.3

kinematic models of contact

mtm lecture 11

Salisbury Hand Video

10/19

 

intro to daVinciCode (dVC)

 

 

10/23

Section 5.1

foundations of statics

mtm lecture 12

jct notes – statics

10/26

Sections 5.2-5.4

polyhedral convex cones

mtm lecture 13

 

10/30

Sections 5.5,5.6

the oriented plane

mtm lecture 14

 

11/2

Section 5.7,5.8

moment labeling and dual force

mtm lectures 15 and 18

jct notes – ML and DF

11/6

Cooking with C…

dynamics of a particle

 

jct notes - dyn of particle

11/9

 

dynamics of particle (continued)

 

 

11/13

 

dynamics of rigid body

 

jct notes - dyn of rigid body

11/16

 

PROJECT QUESTIONS

 

 

11/20

Sections 6.1-6.5

friction

mtm lecture 16

jct notes - friction

11/23

NO CLASS

THANKSGIVING

 

jct notes – painleve.mht

jct notes – painleve.tif

11/27

Section 6.6

planar sliding

mtm lecture 17

 

11/30

Section 6.6

planar sliding (cont)

 

 

12/4

Section 7.4

parts orienting

mtm lecture 22

 

12/7

Section 7.5

assembly

mtm lecture 23

 

12/14

FINAL EXAM

Lally Conf Room

2:00 – 5:00 pm

 

 

Grading

Homework

40%

Projects

40%

Final Exam

20%

 

GENERAL NOTICES

If you can't meet me during office hours, email me or meet me after class to set up a special time.

 

The final exam will be closed-book. You may bring a calculator and one 8.5"x11" sheet of paper with notes (both sides).

Discussion of assignments among classmates is strongly encouraged. However, if you turn in an obviously copied assignments, your overall grade for the course will be reduced by at least a letter grade for each infraction.

 

Assignments must be handed in by midnight on the due date to receive full credit. Assignments will be accepted up to 48 hours late, but will be graded out of 75 rather than 100. Assignments will not be accepted beyond the 48 hour limit. Late assignments must be handed in to me or one of the secretaries in the CS Dept. You must have the secretary sign and date your work on receipt.

 

Academic Dishonesty: If you are not clear on what constitute academic dishonesty, consult the current Rensselaer Handbook of Student Rights and Responsibilities. Academic dishonesty will not be tolerated.  Students caught cheating will receive penalties as follows:  first offense – 0 on the assignment;  second offense – F for the course.

 

Statement on Plagiarism: An often misunderstood form of academic dishonesty is plagiarism, which is commonly defined as the act of passing off as one's own, the ideas, words, etc. of another. In accordance with this definition, you are committing plagiarism if you copy the work of another person and turn it is as your own, even if you have the permission of that person. Plagiarism is one of the worst academic sins, for the plagiarist destroys trust among colleagues without which research cannot safely be communicated.