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Introduction To Robotics (Fall 20)
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Force Control
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
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CSE 444( FR-203)
Week 11: Control Theory of Robotic Systems (robot odometry, differential drive and navigation)
Force Control
Force Control
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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)
Hybrid Motion-Force Control
Obstacle Avoidance
Robot Motion Planning
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