Академический Документы
Профессиональный Документы
Культура Документы
Course Outline
Class hour: Tue. & Thur. 10:30-12:00 Classroom: B-201 Textbook
A mathematical introduction to robotic manipulation, Murray, Li and Sastry, CRC Press [download:
http://www.cds.caltech.edu/~murray/mlswiki/index.php/First_edition]
Grading policy
Exams: 40% Quiz and programming assignment: 60%
Quiz will be given almost every week You must study this course every week to follow the class There will be ~3 programming assignments
Course webpage
http://infcom.gist.ac.kr/~graphics/?mid=ca11
Course Outline
What you will learn
How to model and control physics-based human character for computer animation Related with robotics, control, biomechanics, etc. Topics
Rigid body Articulated body system Kinematics (forward, inverse)
Cognitive Behavioral
Biomechanical
Dynamic Kinematic Geometric
Prerequisite
Linear algebra
OpenGL
Joints
Joint defines(or constrains) relative motion of connecting links
Spherical (3 DoF) Revolute (1 DoF) Universal (2 DoF)
Planar (3 DoF)
Prismatic (1 DoF)
Cylindrical (2 DoF)
Screw (1 DoF)
foot
hand
End effector
Given joint angles, compute pose of the end effector Given desired pose of the end effector, compute necessary joint angles
Dynamics
Configuration Space
Configuration
Complete specification of the pose of a robot
Configuration space
Set of all possible configurations of a robot Dimension of conf. space = DoF of a robot = minimum number of parameters to specify configuration
y (x,y,) q1
q2
q3
x
C=R2xS1={(x,y,)| (x,y)R2, [0,2]} R: real number, S: 1-dimensional circle
q4 C=S1xS1xS1xS1={(q1,q2,q3,q4)}
Constraint
Closed loop system
q2
L1
q3 q1 q4 q1
q2
q3 q4
Constraint equations
g(q)=0R3
1 + 2 + 3 + 4 +=0
DoF of closed loop system = DoF of open loop system number of contraints This example : 4-3=1
(number of constraints) (DoF of open loop system)
Nonholonomic constraints
Cannot have the form of g(q)=0 Example
Configuration space: q=(x,y,,)
Constraint eq.
Homework
Read Chapter 2 of Introduction to robotics, by Park and Lynch
Can download from the course web page