By: Tim Bower

Robotics Programming Study Guide

This study guide is available from timbower.us.

This study guide is made available by the Creative Commons Attribution 3.0 United States License.

This Robotics Programming Study Guide provides notes and information for the Robotics Programming (CMST 305) course offered by K–State Salina, which is taught at the Kansas State University campus located in Salina, Kansas. Self study of the material in the Study Guide is welcome.

Announcements

• Syllabus found on K-State Online.

This course provides an introduction about how to program robots.

See also

• K-State Online
• Stanford Robotics MOOC
• Georgia Tech MOOC – Control of Mobile Robots
• Robot Academy videos by Peter Corke

Contents:

• 1. Introduction to Robotic Systems
  • 1.1. Applications of Robotics
  • 1.2. Glossary of Robotics Terms
• 2. Robotic Control Systems
  • 2.1. System Plant Models
  • 2.2. Linear Time-Invariant Control Theory
  • 2.3. The PID Controller
  • 2.4. The Nature of Motors
• 3. The Pose of a Robot
  • 3.1. Transformations in 2-D
  • 3.2. Transformations in 3-D
• 4. Analysis of Robotic Arms
  • 4.1. Kinematics of Robot Arms
• 5. Differential Drive Mobile Robots
  • 5.1. Mobile Robot Programming Strategies
  • 5.2. GoPiGo Mobile Robot
  • 5.3. Tracking the Robot Pose
  • 5.4. Steering the Robot
  • 5.5. Localization Robotic Algorithms
• 6. Bibliography
• 7. Home Work
  • 7.1. Forward Kinematics Homework
  • 7.2. Inverse Kinematics Homework
  • 7.3. Robot Arm Lab Project

Indices and tables

• Index
• Module Index
• Search Page