ECE 470 - Introduction to Robotics

Summer 2009 | Fall 2009 | Spring 2010 | Summer 2010
Section Type Times Days Location Instructor
AB1 LAB 1300 - 1450 T   267 Everitt Lab  Timothy Bretl
Nathan Shemonski
AB2 LAB 1300 - 1450 R   267 Everitt Lab  Timothy Bretl
Salvatore Candido
AB3 LAB 1500 - 1650 T   267 Everitt Lab  Timothy Bretl
Nathan Shemonski
AL1 LEC 1100 - 1220 T R   106B1 Engineering Hall  Timothy Bretl

Web Page http://wiki.engr.illinois.edu/display/ece470/
Official Description Fundamentals of robotics, rigid motions, homogeneous transformations, forward and inverse kinematics, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. Same as AE 482, CS 443, GE 421, and ME 445. Prerequisite: One of MATH 225, MATH 286, MATH 415, MATH 418.
Hours 4 hours.
Course Prerequisites Credit in MATH 415 or MATH 418
Credit in ECE 210 or GE 320
Course Directors Seth Andrew Hutchinson
Description Fundamentals of robotics, rigid motions, homogeneous transformations, forward and inverse kinematics, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control.
Notes Same as GE/ME 470 and CS 443.
Credit 4 hours
Topics
  • Introduction: Historical development of robots; basic terminology and structure; robots in automated manufacturing
  • Rigid Motions and Homogeneous Transformation: Rotations and their composition; Euler angles; roll-pitch-yaw; homogeneous transformations; Matlab and Mathematica code for symbolic and numerical computation
  • Forward Kinematics: Common robot configurations; Denavit-Hartenberg convention; A-matrices; T-matrices; examples
  • Inverse kinematics: Planar mechanisms; geometric approaches; spherical wrist
  • Velocity kinematics: Angular velocity and acceleration; The Jacobian; singular configurations; singular values; pseudoinverse; manipulability
  • Motion planning: Configuration space; artificial potential fields; randomized methods; collision detection
  • Trajectory generation: Joint space interpolation; polynomial splines; trapezoidal velocity profiles; minimum time trajectories
  • Feedback control: Actuators and sensors; transfer functions; tracking and disturbance rejection; PID control; feed forward control; resolved motion rate control
  • Vision-based control: The geometry of image formation; feature extraction; feature tracking; the image Jacobian; visual servo control Advanced Topics (one or more of the following depending on the instructor): Lagrangian dynamics; parallel robots; mobile robots; force sensing and force control; machine learning; advanced topics in vision; student projects; other
Lab Projects Teach pendant programming; off-line programming; workcell generation; computer/robot interfacing; kinematics; symbolic math packages for robot kinematics; inverse kinematics; motion planning; trajectory planning; feedback control; camera calibration; feature detection and tracking; vision-based manipulation
Course Prerequisites MATH 415 or MATH 418, and ECE 210 or GE 320.
Texts Spong, Hutchinson, and Vidyasagar, Robot Dynamics and Control, New York: John Wiley, 2005.