| XE33IRO Intelligent Robotics 2006 | |||||
| Lecturer: | Tomáš Pajdla | ||||
| Assistant: | Alexandr Sechovcov | ||||
| Lecture: | Mon 11:00 - 12:30 in G-205 | Labs: | Mon 16:15-17:45, in E-132 | ||
| 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 6-degrees of freedom manipulator. |
Syllabus of the lectures (= exam questions)
| 1. | 09.10 | Introduction, lectures, labs, test-alpha [slides] |
| 2. | 16.10 | Affine, Euclidean space, coordinate system, distance, angle, right-handed basis, orientation of 4-tuple of points. Motion as a change of coordinate systems and transformation of coordinates [slides]. |
| 3. | 23.10 | Denavit-Hartneberg Convention I [slides] |
| 4. | 30.10 | Denavit-Hartneberg Convention II |
| 5. | 06.11 | Polynomials [slides] |
| 6. | 13.11 | Polynomials |
| 7. | 20.11. | Monomial ordering and division by polynomials [slides] |
| 8. | 27.11. | Groebner basis [slides] |
| 9. | 04.12. | Solving algebraic equations using Groebner bases [slides] |
| 10. | 11.12 | |
| 11. | 18.12 | |
| 12. | 08.01 | |
Syllabus of the labs
| Náplň | Test | Dom. úkol | ||
| 1. | 02.10 | Liner space, eigenvalues |
alpha-test |
|
| 2. | 09.10 | Liner space, eigenvalues | alpha-test | |
| 3. | 16.10 | Solving polynomial equation in 1 variable | HW-01: alg. eqns & eig | |
| 4. | 23.10 | DH-Convention, Staubli TX-90 | HW-02: DH-Kinematics | |
| 5. | 30.10 | DH-Convention & trivial direct & inverse kinematics | ||
| 6. | 13.11. | Inverse
kinematics in Maple 2 axes of motion 4 dof
IRO-2006-IK-2-axes-4-dof.mws |
HW-03: Kinematics - 2 axes | |
| 7. | 20.11. | Inverse
kinematics in Maple 2-> 3 axes of motion 6 dof
IRO-2006-IK-3-axes-6-dof-01.mws IRO-2006-IK-3-axes-6-dof-02.mws |
HW-04: Kinematics - 3 axes | |
| 8. | 27.11. | Inverse kinematics in Maple 2->3 axes of motion | ||
| 9. | 21.11. | Division by polynomials in more variables | HW-07: 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