robotics assignment pdf

Stanford University

Stanford engineering, s tanford e ngineering e verywhere, cs223a - introduction to robotics, course details, course description.

The purpose of this course is to introduce you to basics of modeling, design, planning, and control of robot systems. In essence, the material treated in this course is a brief survey of relevant results from geometry, kinematics, statics, dynamics, and control. The course is presented in a standard format of lectures, readings and problem sets. There will be an in-class midterm and final examination. These examinations will be open book. Lectures will be based mainly, but not exclusively, on material in the Lecture Notes book. Lectures will follow roughly the same sequence as the material presented in the book, so it can be read in anticipation of the lectures Topics: robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design. Prerequisites: matrix algebra.

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Khatib, Oussama

Prof. Khatib was the Program Chair of ICRA2000 (San Francisco) and Editor of ``The Robotics Review'' (MIT Press). He has served as the Director of the Stanford Computer Forum, an industry affiliate program. He is currently the President of the International Foundation of Robotics Research, IFRR, and Editor of STAR, Springer Tracts in Advanced Robotics. Prof. Khatib is IEEE fellow, Distinguished Lecturer of IEEE, and recipient of the JARA Award.

Assignments

Course sessions (16):, transcripts, stanford center for professional development.

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Welcome to CS223A

Hello human, teach me how to dive, cs223a / me320 : introduction to robotics - winter 2024.

This course provides an introduction to physics-based design, modeling, and control of robotic systems, in particular of robotic arms. You will learn basic methodologies and tools, and build a solid foundation that will enable you to move forward in both robotic research (CS327A, CS326) and applications (CS225A). Concepts that will be covered in the course are Spatial Transformations; Forward and Inverse Kinematics of Robots; Jacobians; Robot Dynamics, Joint, Cartesian, Operational Space and Force Control as well as Vision-based Control.

Expected Learning Outcomes

After taking the class, students will be able to

• Design a robot with an optimal workspace
• Model a robot to sufficient precision
• Implement and tune a robot motion controller that exposes desired behaviour
• Implement and tune a compliant robot motion/force controller that exposes desired behaviour
• Implement and tune a vision-based robot motion controller that is robust to noise
• Assess limitations of traditional, model-based approaches, visualise these failure cases, and propose an approach on how they can be addressed (as assessed by bonus exercises in homework assignments)

All learning outcomes are assessed by homework assignments, midterm and final exam.

Mon & Wed from 3:00 PM - 4:20 PM Lectures conducted in-person in Gates B3 Recordings available through Panopto Course Videos on Canvas

Course Reader

Available at the Bookstore here .

All course materials will be shared through the Canvas page , including important class announcements from the Teaching Staff.

Homework: 40% Midterm (in class): 25% Final (in class): 35%

There are 8 assignments, total worth 40% of your final grade. Due @ 5:00 PM on Fridays on Gradescope (class code NPNR8W).

Oussama Khatib

[email protected], office hours: mon + wed, 4:30 - 5:30 pm, gates 203 (pending availability), course assistant, [email protected], office hours: tue 5:00 - 7:00 pm, gates 200, join by zoom, william chong, [email protected], office hours: thu 1:00 - 3:00 pm, fri 1:00 - 3:00 pm, gates 200, adrian piedra, [email protected], office hours: mon 1:00 - 3:00 pm, tue 3:00 - 5:00 pm, gates 200, chinmay devmalya, [email protected], office hours: wed 1:00 - 3:00 pm, thu 10:00 am - 12:00 pm, gates 200.

Sreenidhi Tupuri

[email protected], office hours: mon 10:00 am - 12:00 pm, wed 10:00 am - 12:00 pm, gates 200, [email protected], office hours: mon 1:00 - 3:00 pm, tue 1:00 - 3:00 pm, gates 200, detailed syllabus info, website & other information channels.

All course materials will be shared through the Canvas website, including important class announcements from the Teaching Staff. All assignments should be submitted via Gradescope.

If you have a question, to get a response from the teaching staff quickly we strongly encourage you to post it to the Ed Discussion forum here . This is a great place to ask questions of the staff, as well as share information among your peers. For private matters, please make a private note visible only to the course instructors. For longer discussions with CA's, we strongly encourage you to come to office hours.

Assignments

There will be 8 homework problem sets that are pen-and-paper exercises. Their purpose is to practice the concepts covered in class by applying them to different robotics-related example problems. All assignments will be released on Friday at 5:00 PM and due on the following Friday at 5:00 PM. You should submit directly to Gradescope .

Collaboration Policy

Although group discussion and work is encouraged, each student should submit their own assignment and perform any necessary calculations on their own.

There will be a midterm and a final for this course. It will include similar problems to those you have encountered in the homework, and will additionally include problems and questions covering the content from the lectures. TA review sessions (schedule TBD) will help you to prepare for the exam.

Late Policy

Each student will have a total of three free late days to use for homeworks for the whole quarter. You may use up these late days for any assignment as you see fit. You can use partial late days (i.e. if you submit your first assignment 5 hours late, you will have 72-5 = 67 total late hours remaining), Once these late days are exhausted, any assignments turned in late will be penalized 20% per late day. However, no assignment will be accepted more than three days after its due date . If you need additional assignment extensions beyond the free late days given for whatever reason, contact the CAs directly and we will work something out with you.

Regrades will also be handled through Gradescope. We will begin to accept regrades for an assignment the day after grades are released for a window of three days. We will not accept regrades for an assignment outside of that window. Regrades are intended to remedy grading errors, so regrade requests must discuss why you believe your answer is correct in light of the deduction you received. We do not accept regrade requests of the form "I deserve more points for this" or "that deduction is too harsh."

The Course Reader is available at the bookstore.

Supplementary Material (Optional)

• Textbook: Robotics - Modelling, Planning and Control by Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G. Available on Springer within Stanford network.
• Essence of Linear Algebra by 3blue1brown
• Python tutorial

Students with Documented Disabilities

Students who may need an academic accommodation based on the impact of a disability must initiate the request with the Office of Accessible Education (OAE). Professional staff will evaluate the request with required documentation, recommend reasonable accommodations, and prepare an Accommodation Letter for faculty dated in the current quarter in which the request is made. Students should contact the OAE as soon as possible since timely notice is needed to coordinate accommodations. The OAE is located at 563 Salvatierra Walk (phone: 723-1066, URL: http://studentaffairs.stanford.edu/oae ). Please send your OAE letter directly to Wesley at [email protected].

SCPD Accommodations

SCPD students who cannot physically attend lecture can still participate and ask questions through the Canvas Course Videos tab. This tab will show a 40-second delayed livestream of the lecture, and the associated text chat will be Tueitored by a TA. The Course Videos tab also contains recordings of past lectures and out-of-class review sessions.

One of the office hours sessions will be designated as SCPD priority office hours and be made available remotely through Zoom. The TA administering these office hours will be available through the Zoom video conference platform for live discussion of course material and homework. SCPD students will receive priority during this time, but non-SCPD students are also welcome to attend.

For Exams, if you are local to the area you are welcome to come to campus to take your midterms and finals in person. If you are not, you will need to desginate an Exam Monitorby the second week of class so you can take your exam remotely. Please visit this SCPD page for more information.

The Stanford University Fundamental Standard is a part of this course

It is Stanford’s statement on student behavioral expectations articulated by Stanford’s first President David Starr Jordan in 1896. It is agreed to by every student who enrolls at Stanford. The Fundamental Standard states: Students at Stanford are expected to show both within and without the university such respect for order, morality, personal honor and the rights of others as is demanded of good citizens. Failure to do this will be sufficient cause for removal from the university.

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Robot Applications

Prof S K Saha

Literature Review Gender and Robotics

Anna Pillinger

Robotic Systems

Department of Mechanical Engineering Zhongxing University

Industrial Application of Robots in Material Handling and Assembly (Presentation)

Marian Engineering College

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Cory D Kidd,Cynthia Breazeal

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LINKS OF INTEREST:

• Mechanical Engineering
• NOC:Introduction to Robotics (Video) 
• Co-ordinated by : IIT Kanpur
• Available from : 2020-11-18
• Intro Video
• Lecture 01 - Introduction to Robotics
• Lecture 02 - Robot Joints and Work Volume
• Lecture 03 - Spatial transformations
• Lecture 04 - Homogenous Transformtions
• Lecture 04.1 - Practice Problems with MATLAB in Rotation matrices
• Lecture 06 - Kinematics: Derivation of Link Transformations
• Lecture 06.1 - Problem Solving DH Parameters
• Lecture 07 - Forward Kinematics
• Lecture 08 - Inverse Kinematics
• Lecture 08.1 - Problems in Kinematics
• Lecture 09 - Inverse Kinematics of PUMA Robot
• Lecture 10 - Jacobian and Singularity
• Lecture 11- Velocity and Static Forces
• Lecture 12 - Dynamics - Lagrangian Euler
• Lecture 13 - Newton Euler Dynamics
• Lecture 14 - Trajectory Planning
• Lecture 14.1 - Inverse Dynamics using MATLAB
• Lecture 15 - Sensors
• Lecture 16 - Actuators and Basic Control System
• Lecture 17 - Block Diagram Reduction and Position Regulator
• Lecture 18 - Control of a single joint
• Lecture 19 - Non Linear Control of Manipulators
• Lecture 20 - Force Control
• Lecture 21 - Manipulator Mechanism Design
• Lecture 22 - Industrial Robots and Applications
• Lecture 23 - Specifications and Programming
• Lecture 24 - VAL programming
• Lecture 24.1 - Experiment With PUMA Robot Using VAL- II
• Watch on YouTube
• Assignments
• Download Videos
• Transcripts

Browse Course Material

Course info, instructors.

• Prof. Harry Asada
• Prof. John Leonard

Departments

• Mechanical Engineering

As Taught In

• Robotics and Control Systems
• Dynamics and Control
• Mechanical Design
• Classical Mechanics

Learning Resource Types

Introduction to robotics, chapter4.pdf.

This section contains topics: Planar kinematics of serial link mechanisms, Inverse kinematics of planar mechanisms, Kinematics of parallel link mechanisms and redundant mechanisms.

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