Assumed background:
1. Vectors, geometry, trigonometry, algebra
2. Math 251
3. A high-level programming language, e.g., C, Basic, Fortran
Useful, but not essential background:
1. Linear algebra
2. Differential equations
Text: J.J. Craig, ``Introduction to Robotics, 2nd ed.'' Addison-Wesley, 1989.
Tentative Course Outline |
|
|
Week |
Topic |
|
1 |
Introduction |
|
2 |
Homogeneous
Transforms |
|
3 |
Forward
Kinematics |
|
5 |
Motion Planning |
|
6 |
Inverse
Kinematics |
|
8 |
Exam 1 |
|
9 |
Jacobians
and Singularities |
|
11 |
Manipulator
Dynamics |
|
13 |
Trajectory
Generation |
|
14 |
Exam 2 |
|
15 |
Advanced Topics |
|
16 |
Final Exam |
Grading |
|
|
2 Midterm Exams |
40% |
|
Final Exam |
20% |
|
Projects |
25% |
|
Other
Assignments |
15% |
GENERAL NOTICES
If you can't meet me during office hours, email me or meet me after class to set up a special time.
Exams are closed-book. You may bring a calculator and one 8.5"x11" sheet of paper with notes (both sides) to the exams.
Discussion of assignments among classmates is strongly encouraged. However, if you turn in an obviously copied assignment, you will receive a final grade of "F" for the course.
Assignments must be handed in on time (in the start of class on the due date) to receive full credit. Late assignments will be accepted up to 72 hours past the due date and time, and will be graded out of 75. Beyond the 72 hour limit, assignments will not be accepted. Late assignments must be handed in to me or one of the secretaries in the CS Dept. You should have the secretary sign and date your work on receipt.
Copyrighted Material The "handouts" made available by me or my teaching assistant for use in this course are copyrighted. By "handouts," I mean all materials (hard copies and Web pages) generated for this class, which include, but are not limited to, the syllabus, quizzes, exams, lab exercises, in-class materials, review sheets, and additional problem sets. Because the handouts are copyrighted, you do not have the right to copy them unless I expressly grant permission.
Statement on Plagarism As commonly defined, plagarism consists of passing off as one's own, the ideas, words, etc. of another. In accordance with this definition, you are committing plagarism if you copy the work of another person and turn it is as your own, even if you have the permission of that person. Plagarism is one of the worst academic sins, for the plagarist destroys the trust among colleagues without which research cannot safely be communicated. If you have any questions regarding plagarism, please consult the latest issue of the "Texas A&M University Student Rules," under the section "Scholastic Dishonesty."