UCSB “Introduction to Robotics: Planning and Kinematics” ME/ECE 179P, Spring 2018 Instructor: Francesco Bullo
This is the syllabus for the UCSB course ME / ECE 179P “Introduction to
Robotics: Planning and Kinematics”, Spring 2018 (lecture times during
period: Tue.03apr2018 through Th.7jun2018).
This information is always available and updated at the URL
http://motion.me.ucsb.edu/ME179PWinter2013/syllabus.html.
Textbook
As main source we will be using an unpublished book:
Lectures on Robotic Planning and Kinematics,
Francesco Bullo and Stephen L. Smith
v0.91, Apr 2016.
Available in
PDF format and in
Slide PDF format. More information
here.
The plan is to cover each chapter of the book in about one week (two
lectures).
When and how to turn in homework and Programming assignments
Homework is typically due on Wednesday 5pm of the week following the
corresponding lectures (e.g., Homework for Week 1 is due on Wednesday
of Week 2). Warning: The weekbyweek schedule below may be modified
during the quarter to include a few exceptions.
Handwritten or typed answers are to be placed in the homework box for
ME179P near room 2243, Engr Bldg II. (exact number of homework box to be decided)
Regarding programming assignments, please remember to always include
name, date and summary description for each program you turn in.
Electronic answer are to be emailed to introtoroboticsatgmail.com with subject “MATLAB Assignment #XYZ” or
“MATLAB Project #XYZ”, where XYZ is the number of the assignment or
project. Typically, Mfiles are to be emailed as attachments. For your
information, we will run your Mfiles and MATLAB scripts through a test
routine to check they work properly.
How to learn MATLAB
Week 1: Apr 3 and 5 SensorBased Motion Planning (Bug Algorithms)
Reading Assignment: Textbook Chapter #1
Homework Assignment #1 (due on Wed Week 2): Exercises E1.1, E1.3, E1.5
Programming Assignment #1 (due on Wed Week 2): Exercise E1.6
Week 2: April 10 and 12 Motion Planning via Decomposition and Search
Week 3: April 17 and 19 Configuration Spaces
Week 4: April 24 and 26 Motion Planning via Sampling and Collision Detection
Francesco unfortunately out of town on May 1 and 3, due to an administrative meeting
of the IEEE professional society.
Week 5: May 1 and 3 Motion Planning via Sampling. Lectures by TA soontobeDr. Mishel George
Week 6: May 8 and 10 Review and Midterm
Week 7: May 15 and 17 Introduction to kinematics and rotation matrices
Reading Assignment: Textbook Chapter #6
Homework Assignment #6: Exercises E6.1, E6.3, E6.4
Week 8: May 22 and 24 Rotation matrices (composition, parametrization)
Reading Assignment: Textbook Chapter #7
Homework Assignment #7: Exercises E7.1, E7.2, E7.3, E7.6
Programming Assignment #7: Exercises 7.10
Week 9: May 29 and 31 Displacement matrices (as models for rigid motion and transformations)
Reading Assignment: Textbook Chapter #8
Additional reading: Motoman HP20 Brochure
Homework Assignment #8: Exercises E8.1, E8.2, E8.3
Week 10: Jun 5 and 7 Motion models
Finals Week
Time: Monday, June 11, 12pm3pm
Place: Engineering Building II, room 2243
