Section: Welcome Note | Introduction To Robotics (Fall 20)

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CSE Spring 21

FR Fazle Rabbi

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Welcome to Introduction to Robotics Course Spring 2021
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Announcements

Lecture 1 in PDF

A link to YouTube video for a quick introduction:

Lecture 2 in PDF

Extended reference to Basic Components of Robots

Lecture 3 in PDF

Reference to extended Basic elements of robots

Lecture 4 in PDF

Reference to actuator introduction

Lecture 5 in PDF

Lecture 6 in PDF

Lecture 7 in PDF

Lecture 8 in PDF

Video Recording Class

Lecture 9 in PDF

Video Recording Class

Video Recording Class-02

Control System Overview

Error Response

Linear Error Dynamics

First Order Error Dynamics

Second Order Error Dynamics

Motion Control with Velocity Inputs

Motion Control with Velocity Inputs

Motion Control with Torque or Force Inputs (Part 1 of 3)

Motion Control with Torque or Force Inputs (Part 2 of 3)

Motion Control with Torque or Force Inputs (Part 3 of 3)

Force Control

Hybrid Motion-Force Control

Obstacle Avoidance

Robot Motion Planning

Introduction To Robotics (Fall 20)

Welcome Note

Section outline

Welcome to Introduction to Robotics Course Spring 2021

Welcome Note

Announcements

Week 1: Definition of Robot, Types of Robots (manipulator, legged robot, wheeled robot, autonomous underwater vehicles, unmanned aerial vehicles), Use of Robots, Asimov’s Laws of Robotics, History of Robotics

Lecture 1 in PDF

A link to YouTube video for a quick introduction:

Week 2: Key Components of a Robot, Introduction and Working Principles of Sensors (vision sensor, force sensor, light-dependent resistor (LDR), temperature sensor, smoke sensor, accelerometer gyroscope, laser sensor, tilt sensor, compass)

Lecture 2 in PDF

Extended reference to Basic Components of Robots

Week 3: Introduction and Working Principles of Sensors (infrared transmitter-receiver, infrared sensor array, PIR sensor, sonar sensor)

Lecture 3 in PDF

Reference to extended Basic elements of robots

Week 4: Introduction and Working Principles of Actuators (DC motor, servo motor, stepper motor)

Lecture 4 in PDF

Reference to actuator introduction

Week 5: Interfacing Hardware (Motor Driver, ADC, Op-Amp) and Micro-controllers

Lecture 5 in PDF

Week 6: Week 7: Transformations to Kinematics (with background)

Lecture 6 in PDF

Week 7: Transformations to Kinematics (with background)

Lecture 7 in PDF

Week 8: Transformations to Kinematics (with background)

Lecture 8 in PDF

Video Recording Class

Week 9: Forward Kinematics

Lecture 9 in PDF

Video Recording Class

Video Recording Class-02

Week 10: Control Theory of Robotic Systems (feedback control, PID controller)

Control System Overview

Error Response

Linear Error Dynamics

First Order Error Dynamics

Second Order Error Dynamics

Week 11: Control Theory of Robotic Systems (robot odometry, differential drive and navigation)

Motion Control with Velocity Inputs

Motion Control with Velocity Inputs

Motion Control with Torque or Force Inputs (Part 1 of 3)

Motion Control with Torque or Force Inputs (Part 2 of 3)

Motion Control with Torque or Force Inputs (Part 3 of 3)

Force Control

Hybrid Motion-Force Control

Week 12: Obstacle avoidance/tracking for mobile robots

Obstacle Avoidance

Week 13: Motion Planning Strategies for Static Environments, Implementation of Motion Planning Algorithms

Robot Motion Planning

Section outline

Welcome to Introduction to Robotics Course Spring 2021