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Introduction To Robotics (Fall 20)
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Motion Control with Velocity Inputs
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)
Motion Control with Velocity Inputs
Motion Control with Velocity Inputs
Completion requirements
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Motion Control with Velocity Inputs
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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 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
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