## Course "Robotica"

### Intention

The intention is to teach you how to represent aspects of physical, geometrical reality (specifically motion of objects), in the computer, how do you use standard search algorithms to plan motions, and then how do you then get those planned motions back into reality as real motions. All this is illustrated throughout by examples from robotics. It give an impression of the specialization `Autonomous Systems'.

The course consists of lectures followed by an exam, and of a lab course followed by demonstration of what you have done; the grades for these form the final grade, in a ratio 2:1 (so =2/3+1/3).

### Contents

We use lecture notes, available from the Dikatenverkoop (check the opening times, they are weird). Try yo get the lab manual at the same time!
• Path planning
You have had planning algorithms such as A* that work on graphs. So let's try to reformulate the path planning problem as a graph problem. These graphs are somewhat special, it is convenient to see them as discretized spaces because this leads to better implementations. So then we need the notion of configuration space to explain the graph's properties.
• A* revisited
• Mapping path planning as graph search
• Task space and discretized configuration space
• Kinematics -> connectivity
• Criteria -> metric
• Obstacles -> forbidden nodes
• Examples: robot arm and self-parking car
• Other approaches of mapping path planning into graphs

• Trajectory planning
If you have setpoints, how to make it into a controllable path.

• Rigid body motion
• physical rigid bodies as idealization
• physical space as vector space
• representing motions using linear algebra (coordinate-free)
• isometries
• proof of decomposition theorem: rigid body motion = rotation followed by translation
• coordinates: vector spaces in the computer
• rotation matrices: how to design them
• reference angles: Euler angles
• homogeneous coordinates

• Denavit-Hartenberg notation
• Forward kinematics
• Inverse kinematics (briefly)
• Redundancy and degeneracy (briefly)
• Differential kinematics

### Where and when

All events take place in the Euclides building, Plantage Muidergracht 24.
The lectures are given in the 3rd trimester, in P227, Fridays 9:15-11:00.
The lab course is on Thursday afternoons, 12:30-16:30, P126.

 datum plaats type inhoud 10/4 P0 geen practicum 11/4 P227 H1 pad plannen: Cspace 17/4 P126 P1 introductie oefeningen 18/4 geen college 24/4 P126 P2 high path 25/4 P227 C2 pad plannen: structuur 1/5 geen practicum 2/5 geen college 8/5 P126 P3 path to garbage 9/5 A.B C3 pad plannen: algorithmiek 15/5 geen practicum 16/5 P227 C4 rotaties en homogene coördinaten 22/5 P126 P4 low path 23/5 P227 C5 kinematica: Denavit Hartenberg 29/5 geen practicum 30/5 geen college 5/6 P126 P5 low path 6/6 geen college 12/6 P126 P6 kinematica 13/6 P227 C6 inverse kinematica 19/6 P126 P7 inverse kinematica 20/6 P227 C7 differentiële kinematica; oefententamen 26/6 P126 P8 integratie en demonstratie

### Lab Course

The lab course is programming a chess-playing robot, with exercises in path planning and kinematics. It is done in groups on two students. The manual is available at the home page for the lab course, which is http://science.uva.nl/~mtjspaan/practicum/index_en.html.

The lab assistents are Matthijs Spaan mtjspaan@science.uva.nl and TBA tba@science.uva.nl. You should register with Matthijs. If you do not yet have an account at the UvA, please request one from support@science.uva.nl.

THE LAB COURSE STARTS APRIL 17, 2003, 13:00 IN P1.26 (IN EUCLIDES, Plantage Muidergracht 24). It would be efficient if you find a practicum partner before that time and mail Matthijs your choice, then we can start immediately.

### Tentamens

Wat je moet weten: de leerlijst.
• T: 7 juli 2003, 13:30-16:30, room A.C
• H1: 29 aug 2003, 9.30 - 12.30, P.227
UITSLAGEN 2003 UITSLAGEN H1 2003 UITSLAGEN H2 2003

### Informatie

College: Leo Dorst
Praktikum: Matthijs Spaan.