https://pvela.gatech.edu/classes/ 2026-04-08T20:05:59+00:00 https://pvela.gatech.edu/classes/ https://pvela.gatech.edu/classes/lib/exe/fetch.php?media=wiki:dokuwiki.svg text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lectures&rev=1724204336&do=diff ECE4560 Lecture Notes ---------- Since I haven't had time to latex up my evolving lectures, the next best thing would be to provide the source notes that are used to generate them. There are two versions here, * [Original notes] from 2005. * [Student notes] from 2007 (recommended).$SO(3)$$\mathfrak{so}(3)$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:liegroupcode&rev=1724204336&do=diff $SE(2)/SE(3)$ As Matlab Classes In the course, you will flesh out the class definition files for two important Lie group descriptions related to robotic systems, $SE(2)$ and $SE(3)$. The default implementation is homogeneous matrix form. You are free to use other compatible representations so long as the specifics are kept internal to the class.$SE(2)$$SE(3)$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:manicontrol&rev=1724204336&do=diff Interfacing the Lab Manipulators in Matlab This site has links to the manipulator interface/control code for the manipulators to be used in the lab, their calibration GUIs, as well as implementation examples. You should be able to get things working from the reources available here. The manipulator interface code is incomplete. As the course progresses, it will be filled in.$SE(2) \times \mathbb{R}^+$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:maniplots&rev=1724204336&do=diff Plotting/Displaying Manipulators in Matlab This site has links to display code for the different manipulators as well as implementation examples. You should be able to incorporate these display functions into your homework assignments. Some are rudimentary (simple lines and circles), some are more complex (3D models). The files are zip files for compatibility with this wiki. text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:project&rev=1724204336&do=diff ECE4560 Projects Default Projects ---------- The course currently has three default projects. 1. The Robotic Arm Track. The original project for the course which is a 5DOF robotic arm. A recent addition to this track includes a 4DOF planar robotic arm. The robotic arm track, as the default project, has historically been incorporated into the homeworks. text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:schedule&rev=1724204336&do=diff Progression of Course Material Reading ---------- Text Books The official textbook is: * [C] Craig. Introduction to Robotics: Mechanics and Control. One alternative is: * [SHV] Spong, Hutchinson, Vidyasagar. Robot Modeling and Control. There are a couple of books available online. The first is a bit more abstract, while the second is more suited to the course material,$SE(2)$$SE(2)$$\mathfrak{se}(2)$$SO(3)$$SE(3)$$\mathfrak{so}(3)$$\mathfrak{se}(3)$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:start&rev=1724204336&do=diff ECE4560: Introduction to Robotics and Automation Essential to the programming of automation and autonomy algorithms for typical robotics systems is an understanding of rigid body mechanics and its use for describing robot motion. This course covers the fundamental mathematics of robot modeling and how they translate to algorithms for controlling or manipulating robots. As such, the course involves a mix of mathematical theory and numerical algorithms for describing canonical problems in robotic…