This course considers robotic kinematics, including descriptions and rigid transformations, manipulator kinematics, inverse manipulator kinematics, Jacobians and singularities, trajectory generation, and introductory surveys of robotic vision, mobile robot motion planning and artificial intelligence.

• B. Goodwine
• Office: 367 Fitzpatrick
• Email: jgoodwin@nd.edu
• Office hours: Tuesdays, 8:00-10:00 pm, or by appointment.

• Denis Evseev
• Office: 321 Cushing
• Email: Denis.M.Evseev.1@nd.edu
• Office hours: Tuesday 5:00-6:00

• Dhanesh Padmanabhan
• Office: 300 Cushing
• Email: dpadmana@darwin.helios.nd.edu
• Office hours: 6:00-7:00

• View your grades.
• Syllabus updated August 30, 1998.
• Reserve the lab for your project. Remember: you can only reserve the lab for up to 3 hours per day.
• Project group assignments.
• Preliminary Project Descriptions:
• Pick and Place Project (project 1).
• Puma Development Project (project 2).
• Vision Project (project 3).
• Numerical root-finding sample code.
• Example Mathematica session (postscript) from class on September 28, 1998 (computing the Jacobian for the SCARA robot).
• Example Mathematica code (postscript or Mathematica notebook file) for the animation of the planar two-link robot near a singularity.
• Mathematica examples from October 5, 1998:
  • The code (postscript or Mathematica notebook file) for the Moore Penrose pseudo inverse redundancy resolution problem.
  • The code for the self motion animation.
• Mathematica example from October 7, 1998, illustrating use of the Mathematica Eigensystem[] command.
• Mathematica example from October 12, 1998, illustrating the use of the null space projection algorithm.
• Errata: (Postscript PDF).

• Homework 1 Due September 9, 1998. Solutions (3 pages, postscript, PDF).
• Homework 2 Due September 18, 1998. Solutions (10 pages, postscript, PDF). Updated: Tue Oct 13 08:32:08 EST 1998.
• Homework 3 Due September 30, 1998. Solutions (6 pages, postscript, PDF). View the solutions on a computer, rather than printing them to see the frame placements in color.
• Homework 4 Due October 9, 1998. Solutions (6 pages, postscript, PDF). View the solutions on a computer, rather than printing them to see the frame placements in color.
• Homework 5 Due November 4, 1998. Solutions.
• Homework 6 Due November 20, 1998.
• Homework 7 Due December 2, 1998.

• Wolfram Research
• A Brief Mathematica Primer
• Another Mathematica Primer

• A book, "Robot: Mere Machine to Transcend Mind" about the future of robots and the associated societal impact.
• Robot Books.com
• Vision-Based Robotics at Notre Dame.
• Robotic vision at Purdue.
• JPL Robotics, including the Mars Rover.
• MIT AI lab.
• PBS interview of Rodney Brooks on "human robots."
• The Robotics Institute at Carnegie Mellon University.