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10 views20 pages

Day 01

Uploaded by

Muneeb ahmad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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CSE4421/5324: Introduction to

Robotics

1 10/31/2024
Contact Information
 Burton Ma
CSEB 1012J (near the north-east entrance)
[email protected]
 CSE4421/5324
lectures Monday, Wednesday, Friday 2:30-3:30PM
(CB)
labs Thursday 11:30-1:30, weeks 1-6 (Prism
1006B)
www.cse.yorku.ca/course/4421
(web site not live yet)

2 Symbolic Representation of Manipulators 10/31/2024


General Course Information
 The course introduces the basic concepts of
robotic manipulators and autonomous systems.
After a review of some fundamental mathematics
the course examines the mechanics and
dynamics of robot arms, mobile robots, their
sensors and algorithms for controlling them.
 two robotic arms
 everything in Matlab (and some Java)
 required textbook
 Thrun, Burgard and Fox, Probabilistic Robotics, The MIT
Press, 2006
 other references
 see course web page
3 10/31/2024
Labs
 six 2-hour labs
 Thursday 11:30-1:30 in Prism CSEB1006B
 the first two labs are very important as they are where
you learn how to use the two robotic arms
 Lab 1 Jan 12
 Lab 2 Jan 19
 Lab 3 Jan 26

4 10/31/2024
Assessment
 4 assignments worth 20% each
 mix of theory and implementation
 first two will use the robotic arms
 last two will be related to mobile robotics
 graduate students have additional questions on the
assignments
 exam worth 20%

5 10/31/2024
A150 Robotic Arm

link 3
link 2

6 Symbolic Representation of Manipulators 10/31/2024


Kinematics
 the study of motion that ignores the forces that
cause the motion
 “geometry of motion”
 interested in position, velocity, acceleration, etc.
of the various links of the manipulator
 e.g., where is the gripper relative to the base of the
manipulator? what direction is it pointing in?
 described using rigid transformations of the links

7 10/31/2024
Kinematics
 forward kinematics:
 given the link lengths and joint angles compute the
position and orientation of the gripper relative to the
base
 for a serial manipulator there is only one solution
 inverse kinematics:
 given the position (and possibly the orientation) of the
gripper and the dimensions of the links, what are the
joint variables?
 for a serial manipulator there is often more than one
mathematical solution

8 10/31/2024
Wheeled Mobile Robots
 robot can have one or more wheels that can
provide
 steering (directional control)
 power (exert a force against the ground)
 an ideal wheel is
 perfectly round (perimeter 2πr)
 moves in the direction perpendicular to its axis

9 10/31/2024
Wheel

10 10/31/2024
Deviations from Ideal

11 10/31/2024
Differential Drive
 two independently driven wheels mounted on a
common axis

12 10/31/2024
Forward Kinematics
 for a robot starting with pose [0 0 0]T moving with
velocity V(t) in a direction θ(t) :

t
x(t )  V (t ) cos( (t )) dt
0
t
y (t )  V (t ) sin( (t )) dt
0
t
 (t )   (t ) dt
0

13 10/31/2024
Sensitivity to Wheel Velocity

vr (t ) 1  N (0,  2 )
v (t ) 1  N (0,  2 )
 (0) 0 σ = 0.05

t 0 10
 0.2 σ = 0.01

14 10/31/2024
Localization using Landmarks: RoboSoccer

15 10/31/2024
Maps

* goal

start *

16 10/31/2024
Path Finding

goal

start

17 10/31/2024
Localization

goal

start

18 10/31/2024
EKF SLAM Application

www.probabilistic-robotics.org [MIT B21, courtesy by John Leonard]

19
EKF SLAM Application

raw odometry estimated trajectory


www.probabilistic-robotics.org [courtesy by John
Leonard]

20

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