2.12/2.120  Introduction to Robotics

As announced last week, the end-of-term exam will be given on

Thursday, December 6, 2012
7:30 pm - 9:30 pm
In Room 3-370

Closed Book. Two sheets of notes allowed.

It covers:
Lecture Notes Chapter 7 (3 handouts), Chapter 8 (2 handouts), and Chapter 9 (2 handouts)
Problem sets No. 5, 6, and 7

I expect that each student will be able to derive equations of motion from a diagram of multi-DOF robotic systems (Newton-Euler's and Lagrange's EoM), address their physical sense, linearize the EoM, obtain transfer functions, and design PID control, which includes pole-zero analysis and simple root-locus diagram. I also expect that the students can apply hybrid position/force control and compliance control to tasks where robots have to physically interact with the environment.

The 2.120 students are expected to deal with deeper questions on the same topics.

Advanced controls, i.e. pole placement, linear quadratic regulator, and feedback lineariztion, as well as other minor topics, i.e. spline functions and sensor fusion, are excluded in the 2.12 exam. The 2.120 students should review feedback linearization, pole placement, and LQR, inaddition to the above topics.

The sample exam problems provided last week will be discussed on Wednesday in class.

Office Hours for last minute questions and clarification:
Thursday 12/6/2012
11:30 - 12:30 pm and 4:00 - 5:30 pm

Harry Asada

Dear class,

Please make sure that to email (1)Your presentation slides (2) Audio to be played for the robot performance and (3) The back up video of your robot
 to Martin, if you haven't already done so.

Amith

The MIT video productions will be taping the 2.12 competition this evening.

In addition to filming the event, they plan to conduct a few brief on camera interviews with the students. It will be in the foyer across the corridor from 6-120.     You may be asked to comment on some

of the following questions:     1. What were  the more significant take aways from this class?    2. What was your overall impression of the way the class was structured and taught?   3. What did you find most challenging?   4. What did you find most satisfying?    5. What would you do differently next time?    6. How did your robot perform?    7. How did your participation in this class impact or influence your course of study?    8. ?



See you later today.

Kamal