Schedule

Date Topic Notes Reading Assignment out/due
9/7 Introduction
9/9 Representation of rotation Vectors, Matrices, Rotations Corke, Ch 2, Ch 7, Ch 8
9/14 Homogeneous Transforms Homogeneous Transforms Corke, Ch 2, Ch 7, Ch 8
9/16 Forward Kinematics, Inverse Kinematics, Differential Kinematics Homogeneous Transforms Inverse Kinematics Differential Kinematics Corke, Ch 2, Ch 7, Ch 8
9/21 Differential Kinematics, Cartesian Control Differential Kinematics Cartesian Control Different representations of orientation Corke, Ch 8 HW 1 out: PDF Code
9/23 Differential Kinematics, Cartesian Control Differential Kinematics Cartesian Control Corke, Ch 8
9/28 Kinematic Redundancy Cartesian Control Kinematic Redundancy Different representations of orientation Corke, Ch 8
9/30 Kinematic Redundancy, Rotation Kinematic Redundancy Different representations of orientation Corke, Ch 5
10/5 Bugs, C-space c-space Bugs, Wavefront planning Corke, Ch 5 HW 1 due! PDF Code Note: I decided not to post the code I demoed in class because I think it is too close to what is asked in HW1. Sorry about that...
10/7 Bugs, C-space Bugs, Wavefront planning c-space Corke, Ch 5
10/12 C-space, PRM c-space Probabilistic Roadmaps Corke, Ch 5
10/14 CLASS CANCELLED!
10/19 PRM Probabilistic Roadmaps Corke, Ch 5
10/21 RRT Rapidly Exploring Random Trees Corke, Ch 5
10/24 HW 2 out: PDF Code
10/26 RRT Rapidly Exploring Random Trees Corke, Ch 5
10/28 BFS, UCS, KDtrees, Point Clouds Graph search KD Trees (Downloaded from UMD website, course notes for CMSC 420 Point clouds Corke, Ch 5
11/4 Point Clouds Point clouds HW 2 due: PDF Code
11/9 Point Clouds Point clouds Project out: PDF Code; HW 3 out: PDF Code
11/11 Point Clouds Point clouds
11/16 Linear Optimal Control Linear Optimal Control
11/18 Linear Optimal Control Linear Optimal Control
11/23 Thanksgiving! HW 3 due: PDF Code
11/25 Thanksgiving!
11/30 Research presentations from Andreas ten Pas, Marcus Gualtieri, and Uli Viereck
12/2 Linear Optimal Control Linear Optimal Control HW 4 out: PDF Code


Readings: unless noted otherwise, all readings and assignments are due on the day that they appear in the schedule.

Corke --> Robotics, Vision, and Control: Fundamental Algorithms in Matlab, by Peter Corke