EE543 Models of Robot Manipulation

Blake Hannaford
Department of Electrical Engineering

2 January 2003

Goal

Students will obtain a basic working knowledge of robot manipulator kinematics, introduction and terminology of robot dynamics. Major emphasis on Forward and inverse kinematics problems and Jacobian matrix.

Instructor

Instructor: Prof. Blake Hannaford,
rm M434 EE1,
phone 206-543-2197,
email blake@ee.washington.edu.

Office Hours: Wed. 3:30-4:30, Thursday 9-10.

Schedule

Wk	Date	Topic	Reading	Homework
1	Jan 6	Intro-Basic Ideas	Ch1
	8	Frames, Orientation	Ch2
	10	RPY Angles
2	13	Euler Angles, E. Params
	15	Positioning
	17	Affine & Homogeneous Trans.
3	20	MLK Day
	22	Xform Graphs	Ch3
	24	Forward Kinematics		PS 1 Due [solution]
4	27	FK Examples
	29	" "
	31	" "
5	Feb 3	Inverse Kinematics	Ch5	PS 2 Due [solution]
	5
	7
6	10			PS 3 [solution]
	12
	14	Mid Term I [solution]
7	17	Pres. Day
	19	Velocity
	21	Jacobian Matrix
8	24
	26	Trajectory Generation	Ch 7
	28
9	Mar 3	Introduction to Dynamics	Ch 6
	5	Position Control	Ch 9	PS 4 Due [solution]
	7	Force Sensing	Notes
10	10	Mid Term II [solution]
	12	Force & Hybrid Control	Ch11
	14	Teleoperation	Notes
11	Tue 18	Final (takehome) Exam Due	2:30-4:30pm

Grading

There will be a total of 450 points for the course and grading will be on an absolute scale. Your grade will be obtained by dividing your total score by 100 and rounding to the first decimal place. However, grading is not an exact science. I reserve the right to check the average and make sure it is representative of the quality of the class as a whole. If it is not, I will add or subtract an appropriate offset to all class members equally. In no case will the offset be more than 50 points.

Homework			60
	PS 1	15
	PS 2	15
	PS 3	15
	PS 4	15
Exams
	Mid Term I		120
	Mid Term II		120
Take-Home Final			150
		TOTAL	450

Reference Material

• Text (required): Introduction to Robotics, John Craig. 2nd Edition, Addison Wesley. Available at U. Bookstore.
• Lecture Notes: [EE543 PDF Archive]
• Web Resources

  Rosen Notes

  An excellent collection of lecture slides by UWEE Prof. Jacob Rosen.
  [Slides Page]

  Previous Course Homepages

  [Previous Pages (partial)]