CS545Introduction to Robotics
Homework Assignment 1 (Due February 18)
In the following problems, you should use MATLAB to compute numerical results and visualize
the data, and Simulink for simulations. A handout about getting started with MATLAB is in
htt
CS545-Contents XIX
An Introduction to VxWorks
The VxWorks Real-Time Operating System The Tornado User Interface The Experimental Setup for the Robot Labs Compiling C-Code for VxWorks
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
A
CS545Introduction to Robotics
Homework Assignment 1 (Due February 14)
In the following problems, you should use MATLAB to compute numerical results and visualize
the data, and Simulink for simulations. A handout about getting started with MATLAB is in
htt
1) Linear Algebra a) 1. n = m
y
Ax
A 1 y A 1 Ax if A is a nonsingular matrix then det( A) A 1A A 1y A x
1
0 x
I Ix
1 Adj ( A) det ( A) Adj ( A) y det ( A)
A 1 is an inverse of matrix. If r ( A) n , x has only one solution. If r ( A) n , x has
1
CS545Introduction to Robotics
Homework Assignment 1 (Due February 6) In the following problems, you should use MATLAB to compute numerical results and visualize the data, and Simulink for simulations. A handout about getting started with MATLAB is
1) (60 Points) The second order equations of motion of the cart-pole system are:
F g sin cos l 2 cos x m M (cos ) 2 m
F M m sin g cos l 2 sin cos m m M l ( (cos ) 2 ) m
where M denotes the mass of the cart, m the mass of the pole
Wednesday, March 29, 2006
The S L Simulation and Real-Time Control Software Package
Stefan Schaal
Computational Learning and Motor Control Laboratory Computer Science and Neuroscience University of Southern California , Los Angeles, 90089-2520
1 2
INTR OD
AF4EB9D7-BB89-40A9-9C2B-83F2E417CBD7
Midterm 1 Exam
f14-midterm1-2
CSCI 561: Artificial Intelligence
#1
1 of 8
- DO NOT OPEN EXAM until given a start signal. Opening exam earlier will result in
filing of a case with the office of student judicial affairs.
CS545Introduction to Robotics
Catalogue of Questions for Final Exam 1. (8 Points) You implemented a PD controller for a robot based on sensor reading obtained from position sensors. In the first test run, you notice that there are vibrations and oscillati
CSCI 545 Introduction to robotics Homework Assignment 1) (40 points) Consider the transfer function:
m (s )(s
2
x( s )
b s m
k ) m
u (s)
a) The block diagram of this system u(s)
1
x(s)
b s m k ) m
m
(s
)(s 2
b) The differential equation: T
CS 545 Robotics
Introduction to
Slides adapted from Sachin Chitta and Radu Rusu (Willow Garage)
Overview
?
my new application
web browser
email client
window manager
memory management
scheduler
process management
device drivers
CS 545 Robotics
Introductio
CS545-Contents XIV
Components of a Robotic System
Power Supplies and Power Amplifiers Actuators Transmission Sensors Linear filtering
Signal Processing
Simple filtering Optimal filtering
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs
CS545-Contents V
Case Study: An Artificial Eye System
Introduction to Oculomotor Control The model of the dynamics Gaze stabilization The vestibulo-ocular reflex (VOR) The optokinetic reflex (OKR) Delays Controlling the VOR and OKR
Reading Assignment fo
CS545Contents VI
Control Theory II
Linear Stability Analysis Linearization of Nonlinear Systems Discretization
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
Stability Analysis
Given the control system
x = f (x, u ) or x = Ax + B
The RTOS Chameleon for Linux
2007-01-24
Jan Kiszka
Dipl.-Ing.
Leibniz Universitt Hannover
Real-Time Systems Group
Hard Real-Time for Linux But How?
Which RT-Linux technology?
Co-scheduling?
.or native real-time Linux?
Which kernel
Always latest 2.6?
Or al
CS545Contents XVIII
Kalman Filtering
The Kalman filter framework
Derivation of Kalman filter update equations
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
A Typical Kalman Filter
Application
System Error Sources
Controls
System
R
CS545Contents XVI
Adaptive Control
Model Reference Adaptive Control
Self-Tuning Regulators
Linear Regression
Recursive Least Squares
Gradient Descent
Feedback-Error Learning
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
The Adaptive
CS545Introduction to Robotics
Homework Assignment 4 (Due April 29)
In the following problems, you should use MATLAB to compute numerical results and visualize
the data, and Simulink for simulations. A handout about getting started with MATLAB is in
http:/
CS545Introduction to Robotics
Homework Assignment 3 (Due April 18)
In the following problems, you should use MATLAB to compute numerical results and
visualize the data. A handout about getting started with MATLAB is in
http:/www-clmc.usc.edu/~cs545/homewo
CS545Introduction to Robotics
Homework Assignment 2 (Due March 21)
In the following problems, you should use MATLAB to compute numerical results and visualize
the data, and Simulink for simulations. A handout about getting started with MATLAB is in
http:/
Robotics
Stefan Schaal
Max-Planck-Institute for Inte"igent Systems
Tbingen, Germany
&
Computer Science, Neuroscience, & Biomedical Engineering
University of Southern California, Los Angeles
sschaal@is.mpg.de
http:/www-amd.is.tuebingen.mpg.de
Grand Challen
CS545-Contents VII
Coordinate Transformation
Rotation Matrices Euler Angles Fixed Angles Homogenous Transformations Algebraic Manipulations
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
CS545-Contents VIII
Direct Kinematics
Transformations from Joint Space to Endeffector Space Denavit-Hartenberg Convention Examples Workspace Considerations
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
CS545-Contents XVI
Adaptive Control
Model Reference Adaptive Control Self-Tuning Regulators Linear Regression Recursive Least Squares Gradient Descent Feedback-Error Learning
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
The Adapti