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
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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
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1) Linear Algebra a) 1. n = m
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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
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
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Midterm 1 Exam
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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.
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
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
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b) The differential equation: T
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
CS 545 Robotics
Introduction to
Slides adapted from Sachin Chitta and Radu Rusu (Willow Garage)
Overview
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my new application
web browser
email client
window manager
memory management
scheduler
process management
device drivers
CS 545 Robotics
Introductio
ESG Family Signal Generators
Agilent Technologies ESG Family Feature Releases
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Operation/Reference Guide
MVP-5100/5150
Modero Viewpoint
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Last Updated: 12/2/2008
AMX Limited Warranty and Disclaimer
All products returned to AMX require a Return Material Authorization (RMA) number. The RMA
Top publications - Robotics Learn more
PLIJIcaiion h5index b5rneian
1. IEEE lntemationaJ Conference on Robotics and Automation 54 34
2. The International JoumaJ of Robotics Research 5? 34
3. IEEE Transactions on Robobcs 52 T5
4. IEEEI'ASME Transactions on
3M MicroTouch
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Installation Guide
Read and understand all safety information
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3
3M Touch Systems Proprietary Information
2
3M MicroTouch Display C1500SS Installation Guide
The information
Ten tips for the first 100 days of a PhD
To date, we have focused more on issues that affect students in the later stages of their
PhD. HereI we make ten suggestions on key activities for PhD students during their rst
ll days.
1. Agreeidevelop a modus o
DUALBRITE
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Models 3009701 / 3209996
Note: Installation of this light control should be done only by
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accordance with local codes. Some local codes may require that
a lice
Users Guide
W2043T
W2243T
W2343T
Make sure to read the Important Precautions before using the product.
Keep the User's Guide(CD) in an accessible place for future reference.
See the label attached on the product and give the information to your
dealer whe
instruction manual
i!-EquipmentMonitor
i n t e g ra t i o n ! S o l u t i o n s
Software Limited Agreement
LIMITED WARRANTY
LIMITED WARRANTY. AMX Corporation warrants that the SOFTWARE will perform substantially in accordance with
the accompanying written
Model: iH150 (English version)
Instruction Manual
Date: Feb 3, 2012
Print color : Black text on white paper
Size: 178W x 178H mm
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LED Color Changing
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Table of Content
Operation/Reference Guide
Modero CV7
G4 Touch Panels
NXD-CV7 and NXT-CV7
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Modero Touch Panels
L as t R e vi s ed: 1 0 /1 /20 0 8
AMX Limited Warranty and Disclaimer
AMX warrants its products to be free of defects in m
FOR TECHNICAL ASSISTANCE:
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For a list of dealers, visit the Gametime Web site
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PM0503-10
Table of Contents
Safety Instructions . p. 1
My Merit . p. 11
Site Preparation . p. 2
Broadband Internet
CS545Contents X
Lagranges Method of Deriving Equations of Motion for
Rigid Body Systems
Lagranges Equation
Generalized Coordinates
Potential Energy
Kinetic Energy
Properties of the Dynamics Equations
Reading Assignment for Next Class
See http:/www-clmc.us
CS545Contents XI
Newton-Euler Method of Deriving Equations of Motion
Newtons Equation
Eulers Equation
The Newton-Euler Recursion
Automatic Generation of Equations of Motion
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
Newtons & Eule
CS545Contents XIII
Trajectory Planning
Control Policies
Desired Trajectories
Optimization Methods
Dynamical Systems
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
Learning Policies is the Goal of
Learning Control
Policy:
u ( t ) = p (
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
Vision for Robotics
(A Gentle Introduction)
Bharath Sankaran
April 11, 2016
CS 545
Why Vision?
What is a robot?
A goal oriented machine that can sense, plan and act. ~ Peter Corker (QUT).
Sense - Plan - Act view of robotics
Another view: Perception - Ac
CS545Contents III
Basic Linear Control Theory
The plant
The plant model
Continuous vs. discrete systems
The control policy
Desired Trajectories
Open Loop Control
Feedback Control
PID Control
Negative Feedback Control
Linear Systems
Blockdiagrams
Reading A
CS545Project NAO
l
Project Description
l
l
NAO standing on one leg
Move back-and-forth between both legs
Step in place
Optional: step forward
Optional: just do something new
Basic Math of Approach
Programming in the SL Simulator
Balancing on One Leg
Learn
CS545Contents XVII
l
Optimal Control
l
The optimal control framework
(from the view of reinforcement learning)
Bellmans principle of optimality
Linear quadratic regulator control
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
The Opti
CS545Contents XVI
l
Adaptive Control
l
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 Adapt
CS545Floating Base
Control
l
Operational Space Control
l
A theoretically very clean approach to creating task space controllers
Floating Base Control
How to deal with underactuated robots
Derived largely from operational space control
How it is used in th
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