Course "Robotica"
Intention
The intention is to teach you how to represent aspects of physical,
geometrical reality (specifically motion of objects),
in the computer, how do you use standard search algorithms to plan motions, and
then how do you then get those planned motions back into reality as
real motions. All this is illustrated throughout by examples from robotics.
It give an impression of the specialization `Autonomous Systems'.
The course consists of lectures followed by an exam, and of a lab course
followed by demonstration of what you have done; the grades for these
form the final grade, in a ratio 2:1 (so =2/3+1/3).
Contents
We use lecture notes, available from the Dikatenverkoop (check the
opening times, they are weird). Try yo get the lab manual at the same time!
 Path planning
You have had planning algorithms such as A*
that work on graphs. So let's try to reformulate the path planning
problem as a graph problem. These graphs are somewhat special, it
is convenient to see them as discretized spaces because this leads to
better implementations. So then we need the notion of configuration
space to explain the graph's properties.
 A* revisited
 Mapping path planning as graph search
 Task space and discretized configuration space
 Kinematics > connectivity
 Criteria > metric
 Obstacles > forbidden nodes
 Examples: robot arm and selfparking car
 Other approaches of mapping path planning into graphs
 Trajectory planning
If you have setpoints, how to make it into a controllable path.
 Rigid body motion

physical rigid bodies as idealization
 physical space as vector space
 representing motions using linear algebra (coordinatefree)
 isometries
 proof of decomposition theorem: rigid body motion = rotation followed by translation
 coordinates: vector spaces in the computer
 rotation matrices: how to design them
 reference angles:
Euler angles
 homogeneous coordinates
 Kinematics of linked mechanisms
 DenavitHartenberg notation
 Forward kinematics
 Inverse kinematics (briefly)
 Redundancy and degeneracy (briefly)
 Differential kinematics
Where and when
All events take place in the Euclides building, Plantage Muidergracht 24.
The lectures are given in the 3rd trimester, in P227, Fridays 9:1511:00.
The lab course is on Thursday afternoons, 12:3016:30, P126.
datum

plaats

type

inhoud

10/4 

P0 
geen practicum

11/4 
P227 
H1 
pad plannen: Cspace 
17/4 
P126 
P1 
introductie oefeningen 
18/4 


geen college

24/4 
P126 
P2 
high path 
25/4 
P227 
C2 
pad plannen: structuur 
1/5 


geen practicum 
2/5 


geen college 
8/5 
P126 
P3 
path to garbage 
9/5 
A.B

C3 
pad plannen: algorithmiek 
15/5 


geen practicum 
16/5 
P227 
C4 
rotaties en homogene coördinaten 
22/5 
P126 
P4 
low path 
23/5 
P227 
C5 
kinematica: Denavit Hartenberg 
29/5 


geen practicum 
30/5 


geen college 
5/6 
P126 
P5 
low path 
6/6 


geen college 
12/6 
P126 
P6 
kinematica 
13/6 
P227 
C6 
inverse kinematica 
19/6 
P126 
P7 
inverse kinematica 
20/6 
P227 
C7 
differentiële kinematica; oefententamen 
26/6 
P126 
P8 
integratie en demonstratie 
Lab Course
The lab course is programming a chessplaying robot, with
exercises in path planning and kinematics. It is done in groups on
two students. The manual is
available at the
home page for the lab course, which is
http://science.uva.nl/~mtjspaan/practicum/index_en.html.
The lab assistents are Matthijs Spaan
mtjspaan@science.uva.nl
and TBA
tba@science.uva.nl.
You should register with Matthijs.
If you do not yet have an account at the UvA, please request one from
support@science.uva.nl.
THE LAB COURSE STARTS APRIL 17, 2003, 13:00 IN P1.26 (IN EUCLIDES, Plantage
Muidergracht 24). It would be efficient if you find a practicum
partner before that time and mail Matthijs your choice, then we
can start immediately.
Tentamens
Wat je moet weten: de leerlijst.
 T: 7 juli 2003, 13:3016:30, room A.C
 H1: 29 aug 2003, 9.30  12.30, P.227
UITSLAGEN 2003
UITSLAGEN H1 2003
UITSLAGEN H2 2003
Informatie
College:
Leo Dorst
Praktikum:
Matthijs Spaan.