15-384 Robotic Manipulation

Fall 2011

Instructor: George Kantor

Head Teaching Assistant Gunhee Kim

Lab TA: Wesley Myers

Class Time and Place:
Tuesdays and Thursdays - 9:00am - 10:20am, NSH 1305

Office Hours Time and Place:
George: TBD, and by appt.
Gunhee: TBD, and by appt.
Wesley: TBD, and by appt.




Robot Modeling and Control by Mark W. Spong, Seth Hutchinson, and M. Vidyasagar
John Wiley & Sons

15-384 satisfies CS application requirement
15-384 satisfies 12 units of ECE coverage requirement in Signals & Systems area
15-384 satisfies the Dynamics & Manipulation requirement of the Robotics Minor

Informally, the prerequisites are a year of calculus, a year of programming, and familiarity with matrix algebra. It's hard to track the changing course numbers and availability, but here's the current attempt:

Also helpful, but not required, is a course on classical mechanics.

This class is mainly about the kinematics and programming of robotic mechanisms. We also spend some time on dynamics, control, sensor and effector design, and automatic planning methods. The fundamental techniques apply to arms, mobile robots, active sensor platforms, and all other computer-controlled kinematic linkages. Arms are the primary application, and we will do some lab exercises to program our Denso robot arms to do something interesting. At the end of the year we will have a tournament involving some manipulation skill. In past years we have had soccer shootout, darts, and a variety of other tournaments.

You can get a better feel for what will be involved in the class by looking at last year's website.