Date Topics Readings Due Notes
21 Aug Introduction chapter1 - -
Planar transformations and displacements
23 Aug Coordinate Systems chapter2: 2.1.4-2.1.5 - -
25 Aug Affine space, bases, dot products 2.1.1-2.1.3 - -
28 Aug Rotations 2.2 - -
30 Aug Coordinate and homogeneous transformations 2.3, 2.5 - -
1 Sep Operators 2.6 HW01 -
4 Sep Labor Day - - -
6 Sep Polynomial trajectories chapter6: 6.1 - -
8 Sep LSPB trajectories, Taylor trajectories 6.2-6.3 Lab1 -
Spatial transformations and displacements
11 Sep 3D vectors, rotations chapter3: 3.1-3.2.4 - -
13 Sep Composition of rotations, transformations 3.2.4-3.4 HW02 -
15 Sep Angle-axis, interpolating 3D rotations 3.5.1-3.5.2, 6.4 - -
18 Sep Euler parameters, quaternions (grad lecture) 3.9-3.10 - -
Forward kinematics for position
20 Sep Types of robots, basic DH parameters chapter4: 4.1-4.3.1 - -
22 Sep DH special cases, end and base links 4.3.2-4.3.5 HW03 -
25 Sep Exam 1 review (Chapters 2, 3, 6) - - -
27 Sep Exam 1 - - -
29 Sep DH parameters to manipulators 4.4 - -
2 Oct Manipulators to DH parameters; forward kinematics 4.5-4.6 Lab2 -
4 Oct Craig and Hayati parameters 4.5-4.6 - -
Inverse kinematics for position
6 Oct Two-link manipulators chapter5: 5.1-5.2.1 HW04 -
9 Oct Fall break - - -
16 Oct Spatial arms 5.2.2 - -
18 Oct Euler angles 3.6-8 - -
20 Oct No class - - -
23 Oct Wrist solution, 6-DOF manipulator 5.3-5.4 Lab3 -
Velocity and acceleration
25 Oct Angular velocity vector chapter7: 7.1-7.2.2 HW05 -
27 Oct Euler angle rates, spatial motion of objects 7.2.3-7.3 - -
Velocity kinematics
30 Oct Velocity kinematics chapter8: 8.1 - -
1 Nov Velocity Jacobians, manipulator accelerations 8.2 HW06 -
3 Nov Inverse kinematic velocities 8.5 - -
6 Nov Inverse kinematic accelerations 8.4, 8.6 - -
Statics
8 Nov Force and torque balance, center of mass chapter9: 9.1-9.3 HW07 -
10 Nov 1D and 2D manipulator force and torque 9.4-9.5 - -
13 Nov 3D manipulator force and torque 9.6-9.7 - -
15 Nov Exam 2 review (Chapters 4-5, 7-8) - - -
17 Nov Exam 2 - - -
20 Nov Screw theory (grad lecture) 8.7, 9.8 HW08 -
22 Nov No class - -
24 Nov Thanksgiving break - - -
Dynamics
27 Nov Momentum, inertia matrix chapter10: 10.1-10.2 - -
29 Nov Newton-Euler equations 10.2.2-10.3 HW09 -
1 Dec Planar manipulator dynamics 10.4-10.5 - -
4 Dec Recursive Newton-Euler equations 10.4-10.5 - -
6 Dec Final exam review - HW10 (8 Dec) -
11 Dec Final exam (1-3pm) - - -