Robotics 1

Learn fundamental robotics concepts such as kinematics with application to a robotic arm in an open-ended project.

Linear algebra (Most utilized)
- Multiplication of matrices and vectors
- Manipulation of matrices (inverse, transpose)
Familiarity with a programming language
- MATLAB
- Python
Linear time-invariant (LTI) systems
- Familiarity with transfer functions
- Knowledge of basic LTI characteristics
Differential equations
- Familiarity with definition and solution of differential equations up to second order
Optimization
- Familiarity with defining optimization problems
- Familiarity with some optimization solution techniques

Describe a robotic arm in terms of joint types, rotation/translation axes, and link lengths
Implement and understand forward kinematics methods
Implement and understand inverse kinematics methods
Define manipulator Jacobian and identify its singularities
Generate end effector and joint angle paths and trajectories
Implement basic feedback control to improve trajectory tracking
Implement course theory on hardware
Implement theory for a topic outside course scope on hardware
Understand the parameters of the standard manipulator dynamic equations

Homework assignments: mixture written and coding
Two in-class exams
Final project
- Some demonstration of fundamentals
- Demonstration of "new task"
- Video, report, and presentation
6000 level only
- Additional homework assignment
- Research paper summary