Instructor Teaching Assistants

Seth Hutchinson
158 CSL
Office Hours: M 9:00-10:00am

Si Win
Office Hours: TuTh 12:00-1:00pm, 371A Everitt Lab
Lab Sections: Tu 1:00pm, Th 1:00pm

Luke Wendt
Office Hours: MWF 9:30-10:10am, 1514 Beckman Institute
Lab Sections: Th 3:00pm

Homework Solutions Lab Resources
  • Exam 1: will be given in class, Thursday, Oct. 13.
    Exam 1 will cover chapters 1-4 of the text (homogeneous transformations kinematics, inverse kinematics, velocity kinematics), but not including material on singularities (i.e., up to, but not including the lecture for Oct. 6).
    For the exam, no calculators, notes (not even a single page), or other materials may be used.
  • Exam 2: will be given at 9:00am, Dec. 14, in CB 218 (the usual lecture room).
    Exam 2 will cover sections 4.9, 4.11, 4.12, Appendix B (singularities, inverse velocity, manipulability), Chapters 5 and 11 (path planning and computer vision).
    For the exam, you may bring one index card (3 by 5 inches) on which you may hand write whatever you like. Note - if your card contains material that has been printed by any machine, you may not use it for the exam. Otherwise, no calculators or other materials may be used. Page 1 of this exam will contain the same information that was given for the first exam.
Academic Integrity
These days, cheating is remarkably easy. Using today's search engines, one can likely find answers to most any question that might be asked in this course. When discussing your homework with fellow students, it can be tempting to copy their work, and to include it in your submitted assignments. You should resist the temptation to do such things. In this class, we will adopt a strict policy on cheating: Any student determined to have cheated on any homework assignment will receive zero credit for the entire semester's homework. If you have any question or concern about what might constitute cheating, you should read the College of Engineering's Guide to Academic Integrity. If, after reading this, you still have questions, feel free to raise these with one of the course instructors.
Robot Modeling and Control
Mark W. Spong, Seth Hutchinson, M. Vidyasagar,
John Wiley and Sons, Inc., 2005
Course Grading Lab Grading
30% Homework
20% Lab
25% Exam 1
25% Exam 2 (noncumulative)
Total of 20 points
Lab 1: 2 point
Lab 2: 2 points
Labs 3-6: 4 points
NOTE: In fact, we did not use this allotment of points to the lab exercises (it was an oversight). The lab portion of your grade still counts as 20% of the total, but points were awarded to individual labs as follows:
Total of 15 points
Lab 1: 1 point
Lab 2: 2 points
Labs 3-6: 3 points (w/a possible bonus point for lab 6)
Lab Schedule (tentative)
Week Lab Assignment
August 22-28 NO Lab
August 29-04 Lab1 Intro - Intro to Robotics Lab
September 05-11 Lab2 Intro - Tower of Hanoi
September 12-18 Lab2 Demo
September 19-25 Lab3 Intro - Forward Kinematics
September 26-02 Lab3 Demo
October 03-09 Lab4 Intro - Inverse Kinematics
October 10-16 Lab4 Cont.
October 17-23 Lab4 Demo
October 24-30 Lab5 Intro - Image Processing
October 31-06 Lab5 Demo
November 07-13 Lab6 Intro - Camera Calibration
November 14-20 Lab6 Cont.
November 21-27 Thanksgiving
November 28-04 Lab6 Demo
December 05-11 Instruction Ends - No Lab