| Date |
Topics |
Readings |
Due |
Notes |
| 20 Aug |
Introduction
|
chapter1 |
- |
- |
| Planar transformations and displacements |
| 22 Aug |
2D vectors
|
chapter2: 2.1.1-2.1.3 |
- |
- |
| 24 Aug |
2D coordinate systems
|
2.1.4-2.2 |
- |
- |
| 27 Aug |
Planar transformations
|
2.2.1-2.4 |
- |
- |
| 29 Aug |
Homogeneous transformations
|
2.5 |
- |
- |
| 31 Aug |
Operators
|
2.6 |
HW01 |
- |
| 3 Sep |
Labor day
|
- |
- |
- |
| Spatial transformations and displacements |
| 5 Sep |
3D vectors, rotations
|
chapter3: 3.1-3.2.4 |
- |
- |
| 7 Sep |
Composition of rotations, transformations
|
3.2.4-3.4 |
- |
- |
| 10 Sep |
Angle-axis
|
3.5 |
HW02 |
- |
| 12 Sep |
Euler angles, RPY angles, Rodrigues vector
|
3.6-8 |
- |
- |
| 14 Sep |
Quaternions, screws
|
3.10-11 |
- |
- |
| 17 Sep |
No class
|
- |
- |
- |
| 19 Sep |
Matrix exponentials
|
3.12 |
HW03 |
- |
| Forward kinematics for position |
| 21 Sep |
Types of robots, basic DH parameters
|
chapter4: 4.1-4.3.1 |
- |
- |
| 24 Sep |
DH special cases, end and base links
|
4.3.2-4.3.5 |
- |
- |
| 26 Sep |
DH parameters to manipulators
|
4.4 |
- |
- |
| 28 Sep |
Exam 1 review (Chapters 2-3)
|
- |
HW04 |
- |
| 1 Oct |
Exam 1
|
- |
- |
- |
| 3 Oct |
Manipulators to DH parameters
|
4.5 |
- |
- |
| 5 Oct |
Forward kinematics, tool transform
|
4.6.1-4.6.4 |
- |
- |
| 8 Oct |
Fall break
|
- |
- |
- |
| Inverse kinematics for position |
| 15 Oct |
Two-link manipulators, spatial arm
|
chapter5: 5.1-5.2.1 |
HW05 |
- |
| 17 Oct |
Spatial arm with shoulder
|
5.2.2 |
- |
- |
| 19 Oct |
Wrist solution, 6-DOF manipulator
|
5.3-5.4 |
- |
- |
| Trajectory planning |
| 22 Oct |
Polynomial and LSPB trajectories
|
chapter6: 6.1 |
- |
- |
| 24 Oct |
Cartesian trajectory planning: position
|
6.2 |
HW06 |
- |
| Velocity and acceleration |
| 26 Oct |
Time derivatives of rotation matrices
|
chapter7: 7.1-7.2.2 |
- |
- |
| 29 Oct |
Euler angle rates, spatial motion of objects
|
7.2.3-7.3 |
- |
- |
| 31 Oct |
Exam 2 review (Chapters 4-5)
|
- |
HW07 |
- |
| 2 Nov |
Exam 2
|
- |
- |
- |
| Velocity kinematics |
| 5 Nov |
Joint-constrained motion
|
chapter8: 8.1.1-8.1.3 |
- |
- |
| 7 Nov |
No class
|
- |
- |
- |
| 9 Nov |
Velocity Jacobians
|
8.1.4-8.2 |
- |
- |
| 12 Nov |
Acceleration, inverse kinematic velocities
|
8.3-8.5 |
- |
- |
| Statics |
| 14 Nov |
Forces and torques
|
chapter9: 9.1-9.2 |
HW08 |
- |
| 16 Nov |
Center of mass
|
9.3 |
- |
- |
| 19 Nov |
1D and 2D manipulator force and torque
|
9.4-9.5 |
- |
- |
| 21 Nov |
Twists, wrenches and reciprocal screws
|
8.7, 9.8 |
HW09 |
- |
| 23 Nov |
Thanksgiving break
|
- |
- |
- |
| 26 Nov |
Exam 3 review (Chapters 6-8)
|
- |
- |
- |
| 28 Nov |
Exam 3
|
- |
- |
- |
| Dynamics |
| 30 Nov |
3D manipulator force and torque; Momentum, inertia
|
9.6-9.7, chapter10: 10.1-10.2 |
- |
- |
| 3 Dec |
Properties of the inertia matrix
|
10.2.1-10.2.3 |
- |
- |
| 5 Dec |
Newton-Euler equations, 1D robot dynamics
|
10.3-10.4 |
- |
- |
| 7 Dec |
Final exam review
|
- |
HW10 |
- |
| 10 Dec |
Final exam (1-3pm)
|
- |
- |
- |