ME 469: Introduction to Robotics
Spring 1999
Description:
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.
Time and place: MWF 10:40-11:30, 205 Cushing.
Instructor:
Teaching assistants:
- Yejun Wei
- Office: 321 Cushing
- Email: ywei@nd.edu
- Office hours: Tuesday 2:00-3:00
Handouts:
Homework sets:
- Homework 1, due January 27, 1999. Solutions (3 pages, postscript, PDF). Statistics (postscript, PDF).
- Homework 2, due February 3, 1999. Solutions (9 pages, postscript, PDF). Updated February 25, 1999. Statistics (postscript, PDF).
Hint 1: to easily distinguish the different frames in the images, view the solutions on a computer useing ghostview or acroread, because on a computer monitor the frames will be illustrated in color.
Hint 2: if you print the solutions, print the PDF version. The postscript file is so large that it takes a long time to print.
- Homework 3, due February 17, 1999. Solutions (8 pages, postscript, PDF). Statistics (postscript, PDF).
- Homework 4, due February 24, 1999. Partial solutions (8 pages, postscript PDF) and the mathematica notebook for problem 2. Statistics (postscript, PDF).
- Homework 5, due March 19, 1999. Solutions (8 pages, postscript, PDF).
- Homework 6, due March 31, 1999. Solutions (3 pages, postscript, Mathematica notebook).
- Homework 7, due April 14, 1999.
- Homework 8, due April 21, 1999.
- Homework 9, due April 28, 1999.
Computer information:
Robot Web Sites:
Last updated: March 17, 1999.
Bill Goodwine
(jgoodwin@nd.edu)