Winter 201718
Department of Electrical Engineering and Computer Science at York University
Dr. Burton Ma
Lassonde 2046
burton at cse.yorku.ca
Mon 14:30–15:15
Tue 13:30–15:30
Wed 14:30–16:30
The exam location has been moved to the Lassonde Building
Lecture Hall B. The cover page for the exam is here.
The exam does include one robotic arm question; all other questions
are related to material after the midterm.
The course introduces the basic concepts of robotic manipulators and autonomous systems. After a review of some fundamental
mathematics the course examines the mechanics and dynamics of robot arms, mobile robots, their sensors and algorithms
for controlling them. A Robotics Laboratory is available equipped with a manipulator and a moving platform with
sonar, several workstations and an extensive collection of software.
The course includes 12 hours of supervised lab sessions.
Prerequisites: General prerequisites; MATH1025 3.0, MATH1310 3.0, EECS2031 3.0
Lectures
—Mon, Wed, Fri 1:302:30 (SLH C)
Lab 1
—Thu 12:302:30 (Prism 1004)
Lab 2
—Thu 2:304:30 (Prism 1004)
Office Hours
—TBA (Lassonde Building 2046)
None required.
First half of the course uses notation consistent with
"Robot Modeling and Control"
MW Spong, S Hutchinson, M Vidyasagar
Wiley, 2005.
Labs/assignments
—6 x 5%
Midterm (2 hours, during a lab session)
—30%
Exam (3 hours, during exam period)
—40%
A missed midterm can be rescheduled at a time convenient for the instructor if there is a documented illness or compassionate
grounds.
A missed exam can be rescheduled to the Departmental makeup exam date if there is a documented illness or compassionate
grounds.
The weight of a missed lab can be redistributed to the remaining labs if there is a documented illness or compassionate
grounds.
Students are expected to understand and follow the guidelines for academic honesty
described in this document.
Dates  Topics  Lecture slides  Annotated lecture slides  Exercises 

Jan 5–12 
Introduction to Manipulator Kinematics Spatial Descriptions Rotations in 3D Rigid Transformations in 3D 
PPTX 
PPTX


Jan 15–19 
Forward Kinematics DenavitHartenberg convention 
PPTX 
PPTX


Jan 22–29 
Inverse Kinematics 
PPTX 
PPTX

Some midterm review questions Solutions 
Jan 31–Feb 02 
Forward Kinematics of Wheeled Robots 
PPTX 
PPTX


Feb 05–Feb 07 
Review of probability 
PPTX 
PPTX


Feb 07–Feb 09 
Velocity motion model 
PPTX 
PPTX


Feb 12–Feb 14 
Odometry motion model 
PPTX (Slide 35 updated to fix an error on Line 6) 
PPTX
(Slide 25 updated to fix the annotation) 

Feb 14–Feb 26 
Combining noisy measurements 
PPTX 
PPTX


Feb 26Mar 2 
Kalman filter introduction and examples 
PPTX PPTX PPTX (updated) PDF (updated) 
PPTX
PPTX 

Mar 5 
Extended Kalman filter 
PPTX 
PPTX


Mar 7 
Unscented Kalman filter 
PPTX 
PPTX


Mar 9 
Histogram filter 
PPTX 
PPTX


Mar 12 
Particle filter 
PPTX 
PPTX


Mar 14 
SLAM 
PPTX 
PPTX


Mar 16 
Distance sensor model 
PPTX 


Mar 1921 
Bug algorithms 
see annotated slides for updated versions 
PPTX


Mar 2123 
Path planning 
PPTX

PPTX


Mar 28 
Junior 
PPTX



Apr 2 
Previous exam 
PDF (Updated)

Date  Topic  Files 

Jan 11 
Matlab tutorial
Spatial descriptions and transformations 
Lab 1 Written questions SOLUTION 
Jan 25  Forward and inverse kinematics 
Lab 2 (including written questions) A150 simulator wristcenter0.m invwrist.m invposkin.m SOLUTION TO WRITTEN QUESTIONS 
Feb 8 
Lab 3 

Feb 15  MIDTERM LABTEST 
The equations provided on the midterm Sample midterm Sample midterm solutions Midterm Ver1 solutions Midterm Ver2 solutions 
Mar 1  Motion models 
Lab 4 
Mar 22  Extended Kalman filter localization 
Lab 5 Matlab script to run EKF Useful equations (PPTX) Useful equations (PDF) 
Mar 29  Kalman filter SLAM 
Lab 6 circle.m kf.m kf_slam.m 