 |
Announcements
|
|
|
|
|
|
| Final grades | Dear students,
Final grades are now available. The course's average was 83.3, for 31 students. |
|
| Created on 3/6/2008, 22:10:52 |
|
|
|
|
|
|
|
|
|
|
|
|
| Grades | Dear students,
The grades of HW4 are out (for those who submitted it already, of course). Those who haven't submitted it yet, may submit it until June 1st. This assignment was given a 3% bonus for its length and difficulty, taken into account while calculating the Final_A grades, also available now (those who will submit it later, will also be given that bonus).
Good luck to those of you who plan to attend the Moed B next week,
Yaniv
|
|
| Created on 16/5/2008, 00:47:33 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW2 | | The grades of HW2 are out. |
|
| Created on 12/5/2008, 12:30:05 |
|
|
|
|
|
|
|
|
|
|
|
|
| Moed B exam | | The exam will take place in Taub 7, 1730, and will last 2.5 hours. |
|
| Created on 11/5/2008, 17:48:03 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW3 grades are out | The grades of HW3 are out.
There were many solution that achieved good results. However, I would like to commend the following students for an exceptionally good solution, which allowed their robots to achieve significantly high success rate (I'm apologizing in advance for any names typos) –
Maayan Castel - the overall winner of the tournament! (over 98% success rate in 3 out of 4 of the worlds, and 81% in the fourth).
Sylvina Rabinikov & Avichay Meiri - the only solution that achieved a perfect 100% rate in one of the worlds!
Elad Atar & Leo Lanzarotti (over 97% success rate for 3 out of 4 worlds, and 48% rate for the fourth).
The following students should also be commended for their elegant solutions, able of achieving nice results using very little field sources. –
Non Rappoport.
Ohad Luzky & Tom Meiri
Hope you enjoyed this assignment, good luck in HW4, and have a happy independence day,
Yaniv
|
|
| Created on 8/5/2008, 02:30:15 |
|
|
|
|
|
|
|
|
|
|
|
|
| Moed B | | The Moed B will take place on Tuesday, May 20th, 1730 (exact location will be published soon) |
|
| Created on 27/4/2008, 17:23:31 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW4 deadline | Dear students,
The deadline for HW4 was slightly postponed.
In addition, those of you who have an exam in the vicinity of this date may be granted another extension, if they feel they need it.
This is done in order to allow the rest of the studenst to be given a grade prior to Moed B, in order for them to have all the information needed when trying to decide whether or not to attend it.
Regards,
Yaniv |
|
| Created on 23/4/2008, 09:32:23 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW4 typo correction | | A small typo was fixed in the last question of HW 4 (P ---> Pi). |
|
| Created on 17/4/2008, 22:09:59 |
|
|
|
|
|
|
|
|
|
|
|
|
| Happy Passover | Dear students,
Happy Passover !
- The course staff |
|
| Created on 17/4/2008, 15:35:07 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW4 | HW4 is available. Submission date is May 8th.
Note - submission is in *singles*. |
|
| Created on 16/4/2008, 23:47:10 |
|
|
|
|
|
|
|
|
|
|
|
|
| Moed B | Dear students,
Two possible dates for the Moed B which were offered by your semester representative are May 19th or May 20th. Students who have problems with those dates are requested to approach your representative, Or Gilad, at
racaz.cs gmail.com.
Happy Passover,
Yaniv
|
|
| Created on 16/4/2008, 23:25:13 |
|
|
|
|
|
|
|
|
|
|
|
|
| The solution for Moed A is available | |
| Created on 16/4/2008, 08:15:07 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW3 - deadline is postponed | New deadline is Tuesday, April 22nd.
Happy Passover. |
|
| Created on 9/4/2008, 18:29:23 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW3 | Here are some answers to frequently asked questions concerning HW. 3 :
Part A:
1. You may use exponential representation of the numbers in the files you submit.
2. The robot moves according to the sum of the forces it "feels".
Part B:
1. You may not select the resolution of the world. Namely – the size of each cell is 1*1.
2. There is a x<---->y mix-up in one of the comments in the discrete example file. X,Y coordinates are as they normally used (and as they are also used in the drawings which appear in the assignment itself).
Please submit a CD containing :
• A "details.txt" file with your names, emails, and IDs.
• A folder for each of the worlds (you may name it as you like, as long as it would be clear which folder is for which of the different worlds.
|
|
| Created on 7/4/2008, 23:16:39 |
|
|
|
|
|
|
|
|
|
|
|
|
| Moed A grades are available | | Average is 70 and the median is 71. |
|
| Created on 7/4/2008, 13:10:05 |
|
|
|
|
|
|
|
|
|
|
|
|
| DH conventions allowed for the test | Dear students,
Concerning your questions as to the proper convention to use while calculating the parameters and matrices of the DH, you are kindly requested to use the convention which appear in the course's book –
"Craig,J.J. Introduction to Robotics: Mechanics and Control. 3rd ed. Pearson Education, 2005".
Alternatively, you may also use any other method for calculating the translation and rotation matrices, provided that it yields correct results.
|
|
| Created on 25/3/2008, 00:41:47 |
|
|
|
|
|
|
|
|
|
|
|
|
| The restoration of the mid-term exam | Due to excited requests, the mid-term exam is restored to its original date&place&material.
Good luck
|
|
| Created on 23/3/2008, 20:05:18 |
|
|
|
|
|
|
|
|
|
|
|
|
| Cancelation of the mid-term exam | Dear Students,
As you know, the intention of the change we made to the exam's date and structure was to make it easier for you, taking into account the changes made to the semester due to the strike.
However, it appears that several students have complained to lecturers of other courses that due to the new date of the exam, they are unable to submit the assignments of those course on time.
Therefore, we are hereby restoring the date of the exam to its original time. As a result, it will also cover the entire course's material.
|
|
| Last updated on 23/3/2008, 15:38:17 |
|
|
|
|
|
|
|
|
|
|
|
|
| Reception hours tomorrow | | We will be available tomorrow (Monday) for questions, at 1300 (Yaniv's office), and after 1600 (Freddy's office). |
|
| Created on 23/3/2008, 12:51:25 |
|
|
|
|
|
|
|
|
|
|
|
|
| Test | | Just to make things clear – the test is with open material, namely – all non electronic assistive material is allowed. |
|
| Created on 23/3/2008, 07:55:34 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW3 is out | Topic is potential field navigation and distance functions.
Submission date is April 13th. |
|
| Created on 22/3/2008, 01:07:01 |
|
|
|
|
|
|
|
|
|
|
|
|
| Test | The test will take place on Taub 9.
Those of you who has a formal time extension permit – please state it at the beginning of the test.
Good luck. |
|
| Created on 22/3/2008, 00:48:06 |
|
|
|
|
|
|
|
|
|
|
|
|
| Clarification for HW2, question 2 | | When asked to use alpha and beta as free variables, you can assume that the systems first turns alpha angles, and only then beta angles. |
|
| Created on 22/3/2008, 00:46:46 |
|
|
|
|
|
|
|
|
|
|
|
|
| Test | Dear students,
As agreed, the test date was changed to Thursday, March 27th, 1030-1230 (yes – instead of the lecture). The test will last 2 hours, and will comprise 3 questions. The material covers everything until the 13th, including.
The date for Moed B will be published soon. It will be in May, and will cover the same material.
Yaniv
|
|
| Created on 11/3/2008, 14:36:57 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW1 - explanation | Dear students,
Following is an explanation to a problem many students have come across in the first question of HW. 1 :
As we use the convention that denote d_i and a_i as a movement from coordinate system (i) to coordinate system (i+1), you might discover that in order to write the transformation from some of the coordinate systems to their predecessors you need to add an "artificial" coordinate system, located at the same point as coordinate system (i), and whose axes are positions in the exact way as those of coordinate system (i+1). Adding such a system will allow you to "move" along the axes of the artificial system towards system (i+1), where the movement between system (i) and the artificial system will be performed using alpha_i and theta_i.
|
|
| Created on 8/3/2008, 22:44:13 |
|
|
|
|
|
|
|
|
|
|
|
|
| A type in the correction of HW1 from February 29th. | | While changing x2,y2,z2, I wrote that "x0 should point up rather than down", when of course, it should have been "x2 should point up rather than down". |
|
| Created on 4/3/2008, 11:55:47 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW1 - a bonus is available | A small bonus is available for the first two questions in HW1 – once the transition matrix in section (b) is ready, you may select arbitrary values for the Theta parameters, as well as an arbitrary point A in the coordinates system of the end effector, and write the explicit matrix (after assigning the Theta values), the point A, and the point A' in the base's coordinates system. This holds for question 1 as well as 2.
Note – selecting arbitrary values means that the probability of two selections having the same values should be very low…
|
|
| Created on 3/3/2008, 22:16:59 |
|
|
|
|
|
|
|
|
|
|
|
|
| Homework assignment #2 | | HW2 is out. Due date is March 23rd. |
|
| Created on 3/3/2008, 10:22:01 |
|
|
|
|
|
|
|
|
|
|
|
|
| A small correction in HW1 | There has been a slight error in the coordinate systems of the second drawing of the first question in HW1 –
X_0 and Y_0 should be switched. Of course, in that case, Y_0 should change direction (towards (x_1,y_1,z_1) instead of away from this system, in order to maintain a right-hand system).
Similarly, X_2 and Y_2 should be replaced, and X_0 should turn up rather than down.
In addition, the distance D4 should be divided into two segments – D4,D5, such that D4 starts at the same location, but ends in the parallel location of Joint 4, where D5 starts, ending at the current ending point of D4.
Good luck |
|
| Created on 29/2/2008, 21:30:56 |
|
|
|
|
|
|
|
|
|
|
|
|
| Consistent DH indexing | As promised in today's complementary exercise – following is the "official" indexing and naming that you should use while calculating DH matrices, for the sake of consistency :
All the parameters (a_i, alpha_i, d_i, phi_i) should be calculated starting from joint i towards joint i+1.
|
|
| Created on 27/2/2008, 22:19:40 |
|
|
|
|
|
|
|
|
|
|
|
|
| HW1 correction | | In the second question of HW1 there have been a small typo – you were asked to write the DH transition matrices T(0<--1), …, T(5<--6), when it is obvious that you should only write T(0<--1), T(1<--2), T(2<--3), and later - T(0<--3). |
|
| Created on 27/2/2008, 21:53:30 |
|
|
|
|
|
|
|
|
|
|
|
|
| Course exam | Dear students,
Following is the suggestion that was raised last Thursday concerning the Moed A of the final exam –
The exam will be moved from its current date (April 10th) to March 27th, 1030-1230 (instead of the robotics lecture). If any of you have a serious problem with this solution, please email us. In this case, the exam will remain in its current date.
As to the Moed B of the course, it was suggested to set it to May 28th. Concerning this issue, please write to your semester representative, Or Gilad (sog@t2).
- Yaniv & Freddy
|
|
| Created on 24/2/2008, 12:27:48 |
|
|
|
|
|
|
|
|
|
|
|
|
| Homework assignment #1 | Dear students,
There is a slight error in the second drawing of the first question of HW1 :
The coordinate system of the fourth joint, denoted (x3,y3,z3) are mistakenly drawn next to the third joint (which already has the coordinate system (x2,y2,z2)). This coordinate system of course, belongs to the fourth joint.
This can easily be understood by observing the first drawing of the same question.
Good luck.
|
|
| Created on 24/2/2008, 12:16:41 |
|
|
|
|
|
|
|
|
|
|
|
|
| Complementary meeting. | Dear students,
As discussed in class, the complementary meetings will take place twice, at the following dates –
• Wednesday, February 20th, 1230-1430, Taub 8.
• Wednesday February 27th, 1230-1430, Taub 8.
The same material will be discussed in both dates (which also appears on the website (Lecture II + Tutorial 1_2).
|
|
| Created on 16/2/2008, 10:09:58 |
|
|
|
|
|
|
|
|
|
|
|
|
| Material added | Course material was added.
Enjoy! |
|
| Created on 16/2/2008, 10:05:10 |
|
|
|
|
|
|
|
|
|
|
|
|
| No lecture and recitation tomorrow | Dear students,
Freddy is abroad and I am sick. Therefore, the lecture and recitation which should have been carried out by me tomorrow, will not take place. The material will be taught at a later date, and you will be notified on the date and time.
Regards
Yaniv
|
|
| Created on 6/2/2008, 17:54:20 |
|
|
|
|
|
|
|
|
|
|
|
|
| Strike is over - the faith of the course | Dear students,
As the strike is over, and as many students reported that postponing the course will be problematic for them, we have decided to leave the course at its present form, namely - at the winter semester.
Therefore, the course will commence this Thursday.
Enjoy, and good luck !
|
|
| Created on 19/1/2008, 14:15:58 |
|
|
|
|
|
|
|
|
|
|
|
|
| Postponing the course to next semester | Dear students,
Due to the uncertainty that surrounds the faith of the current semester, we have decided to postpone the course to the next semester. Namely, assuming that the winter semester does take place in some form in the near future, the course will be postponed to the *spring* semester. Naturally, if more dramatic events happen, we might find another solution for the course.
We are aware that this change may be problematic for students who planned the winter semester to be their last semester. We kindly ask those students to contact us, in order for us to find a solution to their problem.
We hope all goes well with the academic year, and in general, and that you're using your enforced vacation positively,
Regards,
Course staff
|
|
| Created on 16/1/2008, 17:07:36 |
|
|
|
|
|
|
|
|
|
|
|
|
| Tutorials - IMPORTANT | Dear students,
Due to the strike, there WILL NOT be any tutorials in the course, until further notice.
Yaniv |
|
| Created on 7/11/2007, 15:11:11 |
|
|
|
|
|
|
|
|
|
|
|
|
| Tutorial tomorrow | Just to clear things up - the tutorial tomorrow takes place as planned.
Yaniv |
|
| Created on 7/11/2007, 12:14:00 |
|
|
|
|
|
|
|
|
|
|
|
|
| Tutorial on Thursday November 1st is canceled | Dear students,
The tutorial scheduled for this Thursday, November 1st, is canceled. A complementary tutorial will be given in the future. Specific date will be published in advance. |
|
| Created on 29/10/2007, 00:01:06 |
|
|
|
|
|
|
|
|
|
|
|
|
|
Technion - Israel Institute of Technology 
