UCSB “Introduction to Robotics: Planning and Kinematics” ME/ECE 179P, Spring 2014 Instructor: Francesco Bullo
This is the syllabus for the UCSB course ME / ECE 179P “Introduction to
Robotics: Planning and Kinematics”, Spring 2014 (lecture times during
period: Tuesday.08jan2013 through Thursday.14mar2013).
This information is always available and updated at the URL
http://motion.me.ucsb.edu/ME179PWinter2013/syllabus.html.
The userid and password information for the lecture notes will be given via
email and in class.
When and how to turn in homework and MATLAB assignments
Homework is typically due on Thursday 5pm of the following week (e.g.,
Homework for Week 1 is due on Thursday of Week 2). The weekbyweek
schedule below includes the few exceptions.
Handwritten or typed answers are to be placed in the homework box for
ME179P near room 2243, Engr Bldg II.
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: January 8 and 10 SensorBased Motion Planning (Bug Algorithms)
Week 2: January 15 and 17 Motion Planning via Decomposition and Search
Reading Assignment: Lecture Notes Chapter #2 (pdf)
Homework Assignment #2 (due Th Week 3): Exercises E2.1, E2.2 and E2.6
MATLAB Assignment #2 (due Th Week 3): Exercise 1.7
Matlab scripts (solution of Homework #1 Matlab):
(getDistancePointToLine.m file) and (getDistancePointToSegment.m file)
MATLAB Project #1 (due in two weeks, Thursday of Week 4):
Exercise E1.8 “The Bug 1 Algorithm”. Some parts of the
exercises are to be emailed and others are to be turned into the homework
box. Project #1 requires the solution of Exercises 1.6 and 1.7
and solutions to MATLAB Exercise 1.7 will be made available.
MATLAB scripts required for project:
computeBugBasePath.m (mfile) and
testBugEnvironment.m (mfile)
Week 3: January 22 and 24 Configuration Spaces
Week 4: January 29 and 31 Motion Planning via Sampling and Collision Detection
Week 5: February 5 and 7 Motion Planning via Sampling
Week 6: February 12 and 14 Review and Midterm
Week 7: February 19 and 21 Introduction to kinematics and rotation matrices
Reading Assignment: Lecture Notes Chapter #6 (pdf).
Homework Assignment #6 (due Th Week 8): Exercises E6.1, E6.3, E6.4
Week 8: February 26 and 28 Rotation matrices (composition, parametrization)
Reading Assignment: Lecture Notes Chapter #7 (pdf)
Homework Assignment #7 (due Th Week 9): Exercises E7.1, E7.2, E7.3, E7.9
MATLAB Assignment #7 (due Th Week 9): Exercises 7.7 with
required MATLAB script testCubeRotation.m (mfile)
Week 9: March 5 and 7 Displacement matrices (as models for rigid motion and transformations)
Reading Assignment: Lecture Notes Chapter #8 (pdf).
Additional reading: Motoman HP20 Brochure
Homework Assignment #8 (due Th Week 10): Exercises E8.1, E8.2, E8.3
Week 10: March 12 and 14 Motion models
Finals Week
