XE33IRO Intelligent Robotics 2005  
Lecturer:  Tomáš Pajdla  
Assistant:  Hynek Bakstein, Michal Havlena  
Lecture:  Mon 11:00  12:30 in G205  Labs:  Mon 16:1517:45, in E132 
Schedule (see http://cyber.felk.cvut.cz/teaching/)  Students  
Results  
Hand homeworks in 
``My dear Miss Glory, the Robots are not people. Mechanically they are more perfect than we are, they have an enormously developed intelligence, but they have no soul. ... My dear Miss Glory, the product of an engineer is technically at a higher pitch of perfection than a product of nature.'' (Karel Čapek, R.U.R.)  
We shall learn how to solve inverse kinematics of a general 6degrees of freedom manipulator. 
Syllabus of the lectures (= exam questions)
1.  03.10  Introduction, lectures, labs, testalpha [slides] 
2.  10.10  Affine, Euclidean space, coordinate system, distance, angle, righthanded basis, orientation of 4tuple of points. Motion as a change of coordinate systems and transformation of coordinates [slides]. 
3.  17.10  DenavitHartneberg Convention I [slides] 
4.  24.10  DenavitHartneberg Convention II 
5.  31.10  Screw motion [slides] 
6.  14.11  
7.  21.11.  Polynomials [slides] 
8.  28.11.  Polynomials 
9.  05.12.  Monomial ordering and division by polynomials [slides] 
10.  12.12  Groebner basis [slides] 
11.  19.12  
12.  09.01  Solving algebraic equations using Groebner bases [slides] 
Syllabus of the labs
Náplň  Test  Dom. úkol  
1.  03.10  Liner space, eigenvalues 
alphatest 

2.  10.10  Liner space, eigenvalues  alphatest  HW01: alg. eqns & eig 
3.  17.10  DHConvention, Staubli TX90  HW02: DHKinematics  
4.  24.10  DHConvention  HW03: DHKinematics  
5.  31.10  DHConvention & trivial direct & inverse kinematics  HW04: trivial inverse kin.  
6.  14.11.  Inverse kinematics in Maple 2 axes of motion  HW05: Kinematics  2 axes  
7.  21.11.  Inverse kinematics in Maple 2>3 axes of motion  HW06: Kinematics  3 axes  
8.  21.11.  Inverse kinematics in Maple 2>3 axes of motion  HW07: Kinematics  3 axes  
9.  21.11.  Division by polynomials in more variables  HW08: Division by polynom.  
10.  12.12  Monomial ordering and division by polynomials  
11.  19.12  Groebner basis  
12.  09.01  Solving algebraic equations using Groebner bases  
Literature