UNLV ME729 - Advanced Robotics Home Page

UNLV ME729 - Advanced Robotics Spring 2018 Home Page

ME729 is a MS/PhD-level robotics course. ME425/625 (preferably given by the instructor) is a pre-requisite. This course will use the LEGO NXT Brick (i.e. a computer) and NxC programming language (which was covered in ME425/625). The overall objective is an in-depth study of robotics and includes robot sensing, actuation, communications, control, computer vision and path planning.

paul.oh@unlv.edu

Week 01 - 01/22/18

Topic: Introduction and Pre-Requisites

Handouts

Course Outline me729RoboticsCourseOutline011818.pdf
Weekly Schedule Last updated 01/20/18 me729RoboticsSchedule011818.pdf
Lecture:
Lab: (NXC Programming Refresher)
- labBricxxIntroToProgramming.pdf
Homework: (due next week)

Things to do

Bring $50 (check preferred) made out "Paul Oh UNLV", post-dated for "05/14/18". Check canceled if all parts returned.
Meet each Monday 18:00-21:00 at 1325 E. Flamingo Rd
Bring NXT Kit (at least Brick and both USB and NXT cables) to class every week
Check NXT Kit for part completion: Lego Education Kit 9797 Parts List PDF Complete on-line XLS sheet for NXT kit inventory
Configure NXT Brick and Windows PC (preferable Win7) Bricxcc. Test "Hello World" NXC program

Resources

BricxCC Compiler Version 3.3.8.9 bricxcc_setup_3389.exe | SourceForge Site
(If needed): NXC Firmware Version 1.31 lms_arm_nbcnxc_131.rfw | SourceForge Site
(May need): USB Driver for NXT Brick NXT_USB_Driver_120.zip
Primer Notes: labBricxxIntroToProgramming.pdf
Sample Code: nxcPrimerExampleCode.zip
(Reference) NxC Programming Guide: PDF | BricxCC Web Site URL
(Reference) NxC Tutorial: PDF | BricxCC Web Site URL
(Reference) NxC API: PDF | BricxCC Web Site URL
Download and install Scilab (open-source Matlab/Simulink) scilab-5.5.2_x64.exe (Vers 5.5.2 64-bit Windows) | Other versions including Vers 6.0.0

Week 02 - 01/29/18

Topic: Homogeneous Transformation

Handouts

Lecture:
- #1 Homogeneous Transformation Slides: PDF
Lab:
- LEGO 2D Planar Manipulator Construction Manual: PDF
Homework: (due next week)
- #1: PDF

Week 03 - 02/05/18

Topic: Forward Kinematics

Handouts

Lecture:
- An additional note - Homogeneous Transformation Supplements: PDF
- #2 Forward Kinematics PDF
Lab:
- LEGO 2D Planar Manipulator - joint space to Cartesian space: PDF
- Source code with blanks: Fwd_Kine_blank.nxc
- Source code: Fwd_Kine.nxc
Homework: (due next week)
- #2: PDF

Week 04 - 02/12/18

Topic: Inverse Kinematics

Handouts

Lecture:
- #3 Inverse Kinematics PDF
Lab:
- LEGO 2D Planar Manipulator - Cartesian space to joint space: PDF
- Source code with blanks: Inv_Kine_closed_form_blanks.nxc
- Source code: Inv_Kine_closed_form.nxc
Homework: (due the week after next)
- #3: PDF
Project #1:
- Description: PDF

Week 05 - 02/19/18

Topic: Washington Birthday - UNLV Holiday

Week 06 - 02/26/18

Topic: Singularity and Motion Trajectories

Handouts

Lecture:
- #4 Singularity and Motion Trajectories PDF
Lab:
- LEGO 2D Planar Manipulator - trajectory generation: PDF
- Step input source code: Motion_Trajectories_step_input.nxc
- Timer source code: Motion_Trajectories_timer.nxc
- Trajectory source code with blanks: Motion_Trajectories_blanks.nxc
- Trajectory source code: Motion_Trajectories.nxc
Homework: (due next week)
- #4: PDF

Week 07 - 03/05/18

Topic: Actuators and Sensors (and Project #1 Presentations)

Lecture:
- #5 Actuators and Sensors PDF
Homework: (due next week)
- #5: PDF

Week 08 - 03/12/18

Topic: Mid-term

Handouts: None

Theory (Closed-book, 120-min). It does not need calculators.

Week 09 - 03/19/18

Topic: Robot Dynamics

Handouts

Robot Ethics: Self-driving Uber car hits, kills pedestrian in Tempe
Lecture:
- #6 Robot Dynamics PDF
Homework: (due next week)
- #6: PDF
Project #2:
- Description: PDF

Week 10 - 03/26/18

Topic: Spring Break Begins (No Class)

Week 11 - 04/02/18

Topic: PID and Linear Control and Project #2 Presentations

Handouts

Lecture:
- #7 PID and Linear Control PDF
Lab:
- Matlab and Simulink simulation PDF
- Simulink File PID_with_antiwindup
Homework: (due next week)
- #7: PDF

Week 12 - 04/09/18

Topic: Force Control

Handouts

Lecture:
- #8 Force Control PDF
Lab:
- LEGO 2D Planar Manipulator - Force Control: PDF
- Force control source code: Force_Control_lab.nxc
Homework: (due next week)
- #8: PDF
Project #3:
- Description: PDF

Week 13 - 04/16/18

Topic: Computed-Torque Control

Handouts

Lecture:
- #9 Computed-Torque Control PDF
Lab:
- Matlab and Simulink simulation PDF
- inverted_pendulum_PID FILE
- inverted_pendulum_pole_placement FILE
- manipulator_PD_computed_torque FILE
Homework: (due next week)
- #9: PDF