Vision, Robotics, and Planning---Intelligent Machines


Prof. J. Baillieul
Mechanical Engineering
Electrical and Computer Engineering
Systems Engineering
BOSTON UNIVERSITY

ENG ME/SE740 Course Outline: (Spring 2013)

(1/11/13)

1. Foundations of intelligent mechatronics
2. Geometry and robot coordinate systems
3. Euclidean group theory and kinematic equations
4. Differential relationships
5. Specifying robot motions
6. Analytical dynamics of mechanical systems
7. Control: basic issues
8. Control: sampled data systems
9. Control: advanced topics
10. The control theory of micro-mechanical systems
11. Advanced topics: kinematic redundancy
12. Advanced topics: Super-articulated mechanical systems
13. Advanced topics: Information based control
14. Advanced topics: Networked control systems

Communication regarding this course will frequently involve this Web page.



Spring 2006 Mini Projects Page.


See 2001 term project presentations.

Course handouts (click to retrieve):

1. Course syllabus outline: [PDF] or [HTML].
2. Course project description [PDF].
3. Homework Solution Set 1.

Course readings: See Syllabus.

Intelligent Mechatronics Lab in the news.


Grades will be given for homework assignments (one every week or so), exam (midterm on some date when I need to be traveling), and most importanly, for a term project which will be assigned during the first few weeks of the class.


Mini Projects Page .

Last Revised: January 11, 2013