ECE8990 Advanced Robotics

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Advanced Robotics
ECE 8990-01, MWF 1 PM, Simrall 203.
Prof. Bryan A. Jones
Simrall 231, 325-3149, bjones AT ece.msstate.edu
Office hours policy: come by at any time; call or e-mail ahead to confirm I'm available.
Textbook: None; material will be covered in in-class notes and in papers.
Software: Matlab, Microsoft Visual Studio 2005
Prerequisites: Good background in linear algebra; strong programming skills.
Course e-mail: ece8990-01.fall2007@courses.msstate.edu

Overview

This course covers advanced methods in robotics, concentrating on software and hardware approaches to designing, modeling, and building continuum robots.

Course objectives

1. Software tools and techniques
   1. Use the course's Subversion repository at svn+ssh://usrerid@svn.ece.msstate.edu:/data/classes/ece8990/svn/robotics to access source code related to the course.
   2. Create a scene graph using the Coin3D implementation of Open Inventor accessed through the Matlab interface.
   3. Develop a set of unit tests for a given algorithm which demonstrates its correctness
2. Forward kinematics: given a robot, compute end-effector position and orientation using a single, global frame
   1. Geometry-based approaches: use a single global frame to compute forward kinematics
      1. Conjugation to maintain a global frame
   2. Twist-based approaches: use twists to compute forward kinematics
      1. Define the components of a twist and the place in which they apply
      2. Use twist exponentials to compute forward kinematics
      3. Use integrated twists to compute forward kinematics
      4. Model revolute and prismatic joints using twists
      5. Use the adjoint to change the origin of a twist
      6. Determine forward velocity kinematics using the adjoint of twists
3. Dynamics: given a robot, determine its dynamic behavior

Homework

• Homework 1 - software installation and setup. Bring a sheet of paper with the signed honor code on it Wednesday.
• Homework 2 - fill in the missing axis/angle entries in the example code to produce a coordinate frame: x is red, y is green, and z is blue. Bring a sheet of paper with the signed honor code on it on Wednesday.
• Homework 3 - complete unit testing and coding of RtoAxisAngle. Submit the unit tests and code demonstrating correct operation of the program.
• Homework 4 - fill in the missing parts of threeLinkRobot.m by adding a third joint to this robot. Modify demo3.m in order to check that your code works correctly.

Course policies

Grading

Final project ideas:

• Paper topics: multi-section continuum trunk workspace; dynamics for a continuum trunk; geometric alebra-based kinematics; continuum trunk review
• Course development: develop projects using the ECE4990/6990 robot; design and build a continuum trunk using servos; develop a robotics PCB for the Bully Board;
• Projects: Integrate Open ODE with Coin to provide a full dynamics simulation; improve and extend the Coin interface; develop a Coin-based robotics visualization toolkit; determine a methodology to use Blender / some 3-D program to design models which can then be used in Matlab/Coin; develop a complete simulation of the trunk in Coin

Academic support

In compliance with and in the spirit of the American's with Disabilities Act (ADA), academic accommodations are made for any student with a documented disability. Students should register with the Office of Student Support Services in Montgomery Hall at (662) 325-3335 as soon as possible to better ensure such accommodations are implemented in a timely fashion and comply with their policies. Any student who believes they may need accommodations in this class are encouraged to contact Student Support Services. If Student Support Services has a prescribed course of action for you with regard to to this class, please visit me during office hours so we can make the proper arrangements.

Academic Integrity

Mississippi State University has an approved Honor Code that applies to all students. The code is as follows:

"As a Mississippi State University student I will conduct myself with honor and integrity at all times. I will not lie, cheat, or steal, nor will I accept the actions of those who do."

Upon accepting admission to Mississippi State University, a student immediately assumes a commitment to uphold the Honor Code, to accept responsibility for learning, and to follow the philosophy and rules of the Honor Code. Students will be required to state their commitment on examinations, research papers, and other academic work. Ignorance of the rules does not exclude any member of the MSU community from the requirements or the processes of the Honor Code. For additional information please visit: http://www.msstate.edu/dept/audit/1207.html.