METR 4202: Advanced Controls & Robotics

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Welcome to METR 4202/7202 -- Advanced Controls & Robotics !

Overview:

This course teaches the fundamentals of robot system design and control -- including multi-link robot arms and mobile robot systems. The first part of this course will cover select mathematical techniques of Homogenous transformations, serial (open-chain) kinematics, multi-body dynamics, state-space control, and vision as they pertain to solving complex geometrical problems seen in calculating the correct positions and speeds to drive the robot motors in order to move the arm in the desired manner. The latter parts of this course discuss the design of controllers using state-space and adaptive control techniques. The goal is to be able to understand keywords in the robotics domain and, in particular, be able to interpret an abstract from a paper in a major robotics conference, such as ICRA or RSS.

Additional information can be found on the Courses & Programs listing and in the Course Profile.

Newsgroup & Class Forum:

Discussion and Q&A are on Casper [METR4202].
It is a new, easy, student-engineered "StackOverflow" for learning. To make it easier to find threads, we kindly ask that posts use [subject line] [tags].

Note that: UQ only materials and course grades are on UQ e-Learning. (Please log-in for full course materials and details)

Links / Resources:

Platypus _Beta:

An open, online assignment submission system supporting peer assessment that randomizes on a per-question, as compared to a per assignment, basis. (concept sketch)

Assignments, Laboratories & Due Dates:

Laboratory 1 (12.5 %)
Laboratory 2 (25 %)
Laboratory 3 (50 %)
Individual Problem Set (12.5 %)
Available online via:
- PDF
- Platypus

For METR7202 Only: Research Paper in Robotics

Schedule & Locations:

Lectures:
- Wednesday from 11:10 am -- 12:40 pm in Social Sciences (Bldg 24) -- Room S402
Tutorials:
- Monday from 10am -- 11 am [Staring Week 2]
- in: Axon -- Room 104 -- Axon Learning Lab
Prac (Lab) Sessions:
- Wednesday: 5 pm -- 8:00 pm
- in: Axon -- Room 104 -- Axon Learning Lab

References/Textbooks:

Robotics, Vision & Control
by Peter Corke
Available for sale from Amazon -- Also available for online reading via SpringerLink
UQ Library eBook: 364220144X

Contact Information:

Please e-mail us at: metr4202@itee.uq.edu.au
Unit Coordinator: Surya P. N. Singh -- GP South (Bldg. 78), Office 531 -- x58328

Please refer comments & questions to: metr4202@itee.uq.edu.au

Previous Courses: METR4202/7202 -- 2013 || METR4202/7202 -- 2012 || Experimental Class Wiki
© 2012 - 2014, Robotics Design Lab at The University of Queensland
This work is licensed under a Creative Commons License (BY-NC-SA)